StatechartContext.h

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/*
* This file is part of ArmarX.
*
* Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* @package    ArmarXCore::Statechart
* @author     Mirko Waechter( mirko.waechter at kit dot edu)
* @date       2012
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
#pragma once
#ifndef _ARMARX_CORE_STATECHARTCONTEXT_H
#define _ARMARX_CORE_STATECHARTCONTEXT_H
 
 
#include "StatechartContextInterface.h"
#include "StatechartEventDistributor.h"
#include "../core/Component.h"
 
#include <ArmarXCore/interface/observers/SystemObserverInterface.h>
#include <ArmarXCore/interface/observers/ConditionHandlerInterface.h>
 
#include <unordered_map>
 
 
namespace armarx
{
    class StatechartEventDistributor;
    using StatechartEventDistributorPtr = IceInternal::Handle<StatechartEventDistributor>;
 
    class State;
    using StatePtr = IceInternal::Handle<State>;
 
    class DataFieldIdentifier;
 
    class StatechartManager;
    using StatechartManagerPtr = IceUtil::Handle<StatechartManager>;
 
    using StatechartProfilePtr = std::shared_ptr<class StatechartProfile>;
 
 
    class StatechartContextPropertyDefinitions :
        public armarx::ComponentPropertyDefinitions
    {
    public:
        StatechartContextPropertyDefinitions(std::string prefix);
    };
 
 
    class StatechartContext :
        virtual public Component,
        public StatechartContextInterface
    {
    private:
        // inherited from Component
        void onInitComponent() override;
        void onConnectComponent() override;
        void onDisconnectComponent() override;
        void onExitComponent() override;
 
    protected:
        virtual void onInitStatechartContext() {}
 
        virtual void onConnectStatechartContext() {}
    public:
        StatechartContext();
        ~StatechartContext() override;
 
        PropertyDefinitionsPtr createPropertyDefinitions() override;
 
        TimedVariantBaseList getDataListFromObserver(std::string observerName, const DataFieldIdentifierBaseList& identifierList) override;
        VariantBasePtr getDataFromObserver(const DataFieldIdentifierBasePtr& identifier) override;
        ChannelRefPtr getChannelRef(const std::string& observerName, const std::string& channelName) override;
        DatafieldRefPtr getDatafieldRef(const DataFieldIdentifier& datafieldIdentifier) override;
        DatafieldRefPtr getDatafieldRef(ChannelRefPtr channelRef, const std::string& datafieldName) override;
 
        using Component::getIceManager;
 
        bool setToplevelState(const armarx::StatePtr& newToplevelState, StringVariantContainerBaseMap startParameters = StringVariantContainerBaseMap());
 
        void setAutoEnterToplevelState(bool autoEnter);
 
        void setReportingTopic(std::string reportingTopic);
 
        void startStatechart();
 
        virtual void onInitStatechart() = 0;
 
        virtual void onConnectStatechart() = 0;
        virtual void onExitStatechart() {}
 
        std::unordered_map<std::string, ObserverInterfacePrx> observerMap;
 
        StatechartEventDistributorPtr eventDistributor;
        StatechartManagerPtr statechartManager;
        ConditionHandlerInterfacePrx conditionHandlerPrx;
        SystemObserverInterfacePrx systemObserverPrx;
 
    protected:
        bool autoEnterToplevelState;
        Profiler::ProfilerPtr stateReporter;
        std::string reportingTopic;
    };
    using StatechartContextPtr = IceInternal::Handle<StatechartContext>;
 
    class XMLStatechartContext : public StatechartContext
    {
    public:
        const StatechartProfilePtr& getSelectedStatechartProfile() const;
 
 
    protected:
        void setSelectedStatechartProfile(const StatechartProfilePtr& value);
 
    private:
        StatechartProfilePtr selectedStatechartProfile;
        friend class XMLStateComponent;
    };
 
}
 
#endif