This Statetype is used to create a state instance that represents a state that is located in another application. It is added in a parent state by calling State::addRemoteState(statename, proxyname).
If a RemoteState is entered for the first time, it creates automatically a new instance at the remotely located RemoteStateOfferer that contains the real state. The RemoteState receives upon creation of the new real-state instance an unique id of this state for further communication.
This id is automatically used in the onBreak- and onExit-functions, to communicate with the correct state.
Except the state creation-call (which should return immediately) all remote procedure calls are async calls. More...

#include <ArmarXCore/statechart/RemoteState.h>

Inheritance diagram for RemoteState:

Public Member Functions
StateBasePtr	clone () const override
	Pure virtual function to clone of the derived class type. More...

StateBasePtr	createEmptyCopy () const override

std::string	getDefaultName () const override
	Retrieve default name of component. More...

StateParameterMap	getInputParameters () override
	Not const because RemoteState implementation gets the current parameters via Ice and sets them. More...

StateParameterMap &	getOutputParameters () override

StateIceBasePtr	getParentStateLayout (const Ice::Current &) const override

StateBasePtr	getRemoteStatePtr ()
	Function that retrieves a copy of the remoteState. Calling functions or setting members on this instance won't have any effect. More...

::Ice::Int	getRemoteUnbreakableBufferSize (const ::Ice::Current &=Ice::emptyCurrent) const override

bool	getRemoteUnbreakableBufferStati (const ::Ice::Current &=Ice::emptyCurrent) const override

bool	isInitialized () const override
	Returns the status of this state. Only if a state is initialized, it can be used. More...

void	onConnectComponent () override
	Pure virtual hook for the subclass. More...

void	onDisconnectComponent () override
	Hook for subclass. More...

void	onInitComponent () override
	Pure virtual hook for the subclass. More...

RemoteState &	operator= (const RemoteState &source)

void	remoteEnqueueEvent (const EventBasePtr &evt, const ::Ice::Current &c=Ice::emptyCurrent) override

void	remoteFinalize (const StringVariantContainerBaseMap &properties, const EventBasePtr &event, const ::Ice::Current &c=Ice::emptyCurrent) override

void	remoteProcessBufferedEvents (const ::Ice::Current &c=Ice::emptyCurrent) override

void	remoteProcessEvent (const EventBasePtr &evt, bool buffered, const ::Ice::Current &c=Ice::emptyCurrent) override

void	remoteRefetchSubstates (const ::Ice::Current &c=Ice::emptyCurrent)

	RemoteState ()

	RemoteState (const RemoteState &source)

void	setOutput (const ::armarx::StringVariantContainerBaseMap &properties, const ::Ice::Current &c=Ice::emptyCurrent)

void	setProxyName (const std::string &proxyName)

void	setStateName (const std::string &stateName)

bool	waitForInitialization (int timeoutMS) const override

	~RemoteState () override

Public Member Functions inherited from State
virtual RemoteStatePtr	addDynamicRemoteState (std::string instanceName)
	Function to add a new dynamic remote substate to this state. More...

virtual RemoteStatePtr	addRemoteState (std::string stateName, std::string proxyName, std::string instanceName="")
	Function to add a new remote substate to this state. More...

StateBasePtr	addState (StateBasePtr pNewState)

template<>
StatePtr	addState (std::string const &stateName)

template<>
StatePtr	addState (std::string const &stateName)

template<class derivedState >
IceInternal::Handle< derivedState >	addState (std::string const &stateName="")
	Function to add a new substate to this state. Should be called in the defineState()-function. More...

bool	addToInput (const std::string &key, const ContainerType &type, bool optional, VariantContainerBasePtr defaultValue=VariantContainerBasePtr())
	Adds a key,type-pair to the input parameters. More...

bool	addToInput (const std::string &key, VariantTypeId type, bool optional, VariantPtr defaultValue=VariantPtr())
	Adds a new parameter list to the input parameters with a specific type. More...

bool	addToLocal (const std::string &key, const ContainerType &type, VariantContainerBasePtr defaultValue=VariantContainerBasePtr())
	Adds a new parameter list to the local parameters with a specific type. More...

bool	addToLocal (const std::string &key, VariantTypeId type, VariantPtr defaultValue=VariantPtr())
	Adds a key,type-pair to the local parameters. More...

bool	addToOutput (const std::string &key, const ContainerType &type, bool optional)
	Adds a new parameter list to the output parameters with a specific type. More...

bool	addToOutput (const std::string &key, VariantTypeId type, bool optional)
	Adds a key,type-pair to the output parameters. More...

TransitionIceBase &	addTransition (EventPtr event, StateIceBasePtr sourceState, StateIceBasePtr destinationState, ParameterMappingIceBasePtr mappingToNextStatesInput=nullptr, ParameterMappingIceBasePtr mappingToParentStatesLocal=nullptr, ParameterMappingIceBasePtr mappingToParentStatesOutput=nullptr)

template<class EventType >
TransitionIceBase &	addTransition (StateIceBasePtr sourceState, StateIceBasePtr destinationState, ParameterMappingIceBasePtr mappingToNextStatesInput=nullptr, ParameterMappingIceBasePtr mappingToParentStatesLocal=nullptr, ParameterMappingIceBasePtr mappingToParentStatesOutput=nullptr)
	Function to add a new transition between to substates to this state. More...

template<class EventType >
TransitionIceBase &	addTransitionFromAllStates (StateIceBasePtr destinationState, ParameterMappingIceBasePtr mappingToNextStatesInput=nullptr, ParameterMappingIceBasePtr mappingToParentStatesLocal=nullptr, ParameterMappingIceBasePtr mappingToParentStatesOutput=nullptr)
	Function to add a new transition from all substates to `destinationState`. More...

void	cancelSubstates ()
	Use this function in the onEnter() function, if you want to avoid that the substates (i.e. More...

StateBasePtr	clone () const override
	Generates a new copy of this state with the same statename, substates, transitions, overidden functions etc. More...

StateBasePtr	createEmptyCopy () const override
	Generates a new copy of this state with the same overidden functions. stateName, substates, transition etc. are not set. More...

std::string	getGlobalIdString () const
	Getter for the global state identifier string. More...

unsigned int	getId () const
	Returns an id to this state, that is guaranteed to be unique in this process. More...

StateBasePtr	getInitState () const
	Getter for the initial state. The initial state is automatically entered, when this state is entered. More...

template<typename T >
std::enable_if_t< std::is_base_of_v< VariantDataClass, T >, IceInternal::Handle< T > >	getInput (const std::string &key) const
	getInput can be used to access a specific input parameter. More...

template<typename T >
std::enable_if_t< !(std::is_base_of_v< VariantDataClass, T >\|\|std::is_base_of_v< VariantContainerBase, T >), T >	getInput (const std::string &key) const
	getInput can be used to access a specific input parameter. More...

VariantPtr	getInput (const std::string &key) const
	getInput can be used to access a specific input parameter. More...

StateParameterMap	getInputParameters () override
	Returns a new copy of the inputparameters-dictionary, so that the caller cannot modify them (const won't work due to pointers). More...

template<typename T >
std::enable_if_t< std::is_base_of_v< VariantDataClass, T >, IceInternal::Handle< T > >	getLocal (const std::string &key) const
	getLocal can be used to access a specific input parameter. More...

template<typename T >
std::enable_if_t< !(std::is_base_of_v< VariantDataClass, T >\|\|std::is_base_of_v< VariantContainerBase, T >), T >	getLocal (const std::string &key) const
	getLocal can be used to access a specific input parameter. More...

VariantContainerBasePtr	getLocalContainer (std::string const &key)

StateParameterMap &	getLocalParameters ()
	Getter for the local parameter map. More...

template<typename T >
std::enable_if_t< std::is_base_of_v< VariantDataClass, T >, IceInternal::Handle< T > >	getOutput (const std::string &key) const
	getOutput can be used to access a specific input parameter. More...

template<typename T >
std::enable_if_t< !(std::is_base_of_v< VariantDataClass, T >\|\|std::is_base_of_v< VariantContainerBase, T >), T >	getOutput (const std::string &key) const
	getOutput can be used to access a specific input parameter. More...

StateParameterMap &	getOutputParameters () override
	getter function to get the map of output parameters More...

void	inheritInputFromSubstate (std::string stateName)

bool	init (StatechartContextInterface context, StatechartManager manager)
	Function to initialize this state. Must be called in the highest level of the hierarchy - and only there. More...

bool	isInputParameterSet (const std::string &key) const
	Checks whether a given input parameter is set or not. More...

bool	isLocalParameterSet (const std::string &key) const

bool	isOutputParameterSet (const std::string &key) const

bool	isUnbreakable () const

StateBasePtr	setInitState (StateBasePtr initState, ParameterMappingPtr initialStateMapping=ParameterMappingPtr())
	Sets the initial substate of this state. More...

void	setInput (std::string const &key, const Variant &value)
	setInput() sets an input parameter. More...

void	setInput (std::string const &key, const VariantContainerBase &valueList)
	setInput() sets an input parameter list. More...

void	setLocal (std::string const &key, const Variant &value)
	setLocal() sets a local parameter. More...

void	setLocal (std::string const &key, const VariantContainerBase &valueList)
	setLocal() sets a local parameter list. More...

void	setOutput (std::string const &key, const Variant &value)
	setOuput() sets an output parameter of this state. More...

void	setOutput (std::string const &key, const VariantContainerBase &valueList)
	setOuput() sets an output parameter LIST of this state. More...

void	setStateClassNameFromTypeName (const std::string &typeName)

void	setStateName (const std::string &newName)

void	setUnbreakable (bool setUnbreakable=true)
	With this function the state can be made unbreakable. More...

void	setUseRunFunction (bool useRunFuntion)
	setUseRunFunction can be used to configurate whether the thread with the async. More...

Public Member Functions inherited from StateUtility
template<class EventClass >
EventPtr	createEvent ()
	Utility function to create a new Event. More...

EventPtr	createEvent (const std::string &eventName, const StringVariantContainerBaseMap &properties=StringVariantContainerBaseMap())
	Utility function to create a new Event. More...

Public Member Functions inherited from StateController
bool	__applyMappings (const StateControllerPtr &srcState, const TransitionIceBase &t, const EventPtr &event, TransitionError &error)
	Apply the mappings during a transitions. More...

bool	__checkExistenceOfTransition (const TransitionIceBase &transition)

virtual void	__enqueueEvent (const EventPtr event)

virtual void	__finalize (const EventPtr event)
	Function that gets called, when a state enters a FinalSubstate. Virtual function, so that RemoteStateWrapper can override it. More...

bool	__findValidTransition (const EventPtr &event, const StateIceBasePtr &sourceState, TransitionIceBase &resultTransition, TransitionError &error) const

StateControllerPtr	__getParentState () const
	Getter function that automatically casts the parentState member of StateBase into StateControllerPtr. More...

virtual unsigned int	__getUnbreakableBufferSize () const

virtual bool	__getUnbreakableBufferStati () const
	Before:Function to get the unbreakable-buffer status of all parent state - recursively. More...

void	__printTransitionError (const TransitionError &transitionError, const EventPtr &event) const

virtual void	__processBufferedEvents ()
	Processes buffered events, that could not be processed immediately due to unbreakable substates. More...

virtual void	__processEvent (const EventPtr event, bool buffered=false)
	Main function to control the statemachine/state. More...

virtual void	__substatesFinished (const EventPtr ev)
	Function that gets called, when a state enters a FinalSubstate. Virtual function, so that RemoteStateWrapper can override it. More...

TransitionError	__validateTransition (const TransitionIceBase &transition, const EventPtr event, const StateIceBasePtr &sourceState, const StateIceBasePtr &destinationState) const

void	__waitForRemoteStates () const

virtual void	_baseRun ()

virtual void	_startRun ()

void	addProfilerRecursive (Profiler::ProfilerPtr profiler, int recursiveLevels=0)
	addProfilerRecursive recursively adds a new armarx::Profiler::Profiler object as armarx::StateController::localProfiler(the default one does not do anything at all). More...

void	addTransitionFunction (const TransitionIceBase &t, transitionFunction function)

void	disableRunFunction ()
	disableRunFunction sets useRunFunction to false and waits (blocking) for the current StateBase::run() function to complete. More...

void	disableStateReporting (bool disable=true)
	Disables the reporting to profilers for this states during state visits. More...

void	enter (const StringVariantContainerBaseMap &tempInputParameters=StringVariantContainerBaseMap())
	Function to set the statemachine in the first state and call OnEnter(). More...

bool	findTransition (const std::string &eventName, const std::string sourceStateName, TransitionIceBase &transition)

std::string	getTransitionID (const std::string &eventName, const std::string sourceStateName) const

std::string	getTransitionID (const TransitionIceBase &t) const

bool	isFinished () const

bool	isRunningTaskFinished () const
	Checks whether the run() function has already finished. More...

bool	isRunningTaskStopped () const
	isRunningTaskStopped checks whether the RunningTask, that executes run() is requested to stop. More...

void	removeProfilerRecursive (Profiler::ProfilerPtr profiler, int recursiveLevels=0)

	StateController ()

	StateController (const StateController &source)

void	waitForRunningTaskToFinish () const
	Waits until the run-function has finished. More...

void	waitForStateToFinish (int timeoutMs=-1) const
	waitForStateToFinish waits until this thread has finished (i.e. More...

	~StateController () override

Public Member Functions inherited from StateBase
void	__checkPhase (const std::vector< StatePhase > &allowedTypes, const char *functionName) const

void	__checkPhase (StatePhase allowedType, const char *functionName) const
	Helper function for checking if a function was called in valid position of the statechart. More...

void	__checkPhaseMin (StatePhase allowedType, const char *functionName) const

void	__copyDefaultValuesToInput ()

StringVariantContainerBaseMap	__getSetInputAndLocalParameters () const
	Combines both maps to one map and returns a new map of only the set parameters. More...

void	__setParentState (StateBase *parentState)

void	__throwUnknownParameter (const StateParameterMap &paramMap, const std::string &key) const

void	__updateGlobalStateId ()

bool	addParameter (StateParameterMap &paramMap, const std::string &key, VariantTypeId type, bool optional, VariantPtr defaultValue=VariantPtr()) const

bool	addParameterContainer (StateParameterMap &paramMap, const std::string &key, const ContainerType &containerType, bool optional, VariantContainerBasePtr defaultValue=VariantContainerBasePtr()) const

void	clearSelfPointer ()

virtual void	deepCopy (const StateBase &sourceState, bool reset=true)
	Function to copy the states with all it substates and transitions. More...

virtual void	defineParameters ()
	Virtual function, in which input/local/output parameters can be specified. More...

virtual void	defineState ()
	Virtual function, in which this state can be configured. More...

virtual void	defineSubstates ()
	Virtual function, in which substates, transition and mappings can be added. More...

StateBasePtr	findSubstateByName (const std::string &substateName)
	Utility function to find a substate of this state by the name. More...

template<typename ContextType >
ContextType *	getContext () const

StatechartContextInterface *	getContext (bool checkNULL=true) const

std::string	getGlobalHierarchyString () const

std::string	getLocalHierarchyString () const
	Function to get a string that contains als parent states and this state. (e.g. "Robot->Functional->Idling") More...

Ice::Int	getLocalUniqueId () const

void	getParameter (const StateParameterMap &paramMap, const std::string &key, VariantPtr &value) const

void	getParameterContainer (const StateParameterMap &paramMap, const std::string &key, VariantContainerBasePtr &valueContainer) const

const std::string &	getStateClassName () const

std::string	getStateName () const
	getStateName More...

StatePhase	getStatePhase () const

EventPtr	getTriggeredEndstateEvent () const
	This function returns the event that was triggered by entering an endstate. More...

void	inheritInputParameters ()

bool	init (StatechartContextInterface context, StatechartManager manager)
	Function to initialize this state. Must be called in the highest level of the hierarchy - and only there. More...

bool	isParameterSet (const StateParameterMap &paramMap, const std::string &key) const

virtual void	onBreak ()
	Virtual function, in which the behaviour of state is defined, when it is abnormally exited. Can be overridden, but it is optional. An abnormal exit only occurs in hierarchy-levels greater 1. When a parent state is left before the substates are finished, the OnBreak()-function is called in the active substate and in all it's active substates. If this function is not implemented, the normal OnExit()-function is called. More...

virtual void	onEnter ()
	Virtual function, in which the behaviour of state is defined, when it is entered. Can be overridden, but it is optional. More...

virtual void	onExit ()
	Virtual function, in which the behaviour of state is defined, when it is exited. Can be overridden, but it is optional. More...

StateBase &	operator= (const StateBase &source)

void	reset ()
	Function to reset the state: clear name, clear substatesList, clear transition etc. More...

virtual void	run ()
	Virtual function, that can be reimplemented to calculate complex operations. More...

void	setContext (StatechartContextInterface *context)

void	setInitialized (bool enable)

void	setParameter (StateParameterMap &paramMap, const std::string &key, const Variant &variant)

void	setParameterContainer (StateParameterMap &paramMap, const std::string &key, const VariantContainerBase &valueContainer)

void	setParameterContainer (StateParameterMap &paramMap, const std::string &key, const VariantContainerBasePtr &valueContainer)

void	setStateClassName (std::string className)
	setStateClassName() sets the string, that contains a stringrepresentation of this class. Should not be called usually. The classname gets automatically set in the constructor of the derived class StateTemplate<T>. More...

void	setStatePhase (StatePhase newPhase)

	StateBase ()

	StateBase (const StateBase &source)

	~StateBase () override

Public Member Functions inherited from Logging
SpamFilterDataPtr	deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
	disables the logging for the current line for the given amount of seconds. More...

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...

void	setTag (const LogTag &tag)

void	setTag (const std::string &tagName)

virtual	~Logging ()

Public Member Functions inherited from ManagedIceObject
void	enableProfiler (bool enable)
	setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer) More...

std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name. More...

ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components. More...

ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies) More...

IceManagerPtr	getIceManager () const
	Returns the IceManager. More...

VariantBasePtr	getMetaInfo (const std::string &id)

StringVariantBaseMap	getMetaInfoMap () const

std::string	getName () const
	Retrieve name of object. More...

Ice::ObjectAdapterPtr	getObjectAdapter () const
	Returns object's Ice adapter. More...

ArmarXObjectSchedulerPtr	getObjectScheduler () const

PeriodicTaskPtr	getPeriodicTask (const std::string &name)

Profiler::ProfilerPtr	getProfiler () const
	getProfiler returns an instance of armarx::Profiler More...

template<class ProxyTarg , class... Args>
void	getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)

template<class ProxyType >
ProxyType	getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Retrieves a proxy object. More...

template<class ProxyTarg , class... Args>
void	getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&...args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&...args)
	Assigns a proxy to `proxy`. More...

Ice::ObjectPrx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
	Returns the proxy of this object (optionally it waits for the proxy) More...

template<class Prx >
Prx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const

template<class ProxyType >
void	getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Overload to allow using string literals as name (solve ambiguous overload). More...

template<class Prx >
void	getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const

int	getState () const
	Retrieve current state of the ManagedIceObject. More...

template<class TopicProxyType >
TopicProxyType	getTopic (const std::string &name)
	Returns a proxy of the specified topic. More...

template<class TopicProxyType >
void	getTopic (TopicProxyType &topicProxy, const std::string &name)
	Assigns a proxy of the specified topic to `topicProxy`. More...

std::vector< std::string >	getUnresolvedDependencies () const
	returns the names of all unresolved dependencies More...

	ManagedIceObject (ManagedIceObject const &other)

void	offeringTopic (const std::string &name)
	Registers a topic for retrival after initialization. More...

void	preambleGetTopic (std::string const &name)

void	setMetaInfo (const std::string &id, const VariantBasePtr &value)
	Allows to set meta information that can be queried live via Ice interface on the ArmarXManager. More...

void	startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)

bool	stopPeriodicTask (const std::string &name)

bool	unsubscribeFromTopic (const std::string &name)
	Unsubscribe from a topic. More...

bool	usingProxy (const std::string &name, const std::string &endpoints="")
	Registers a proxy for retrieval after initialization and adds it to the dependency list. More...

void	usingTopic (const std::string &name, bool orderedPublishing=false)
	Registers a proxy for subscription after initialization. More...

void	waitForObjectScheduler ()
	Waits until the ObjectScheduler could resolve all dependencies. More...

void	waitForProxy (std::string const &name, bool addToDependencies)

Protected Member Functions
bool	__breakActiveSubstate (const EventPtr event) override
	Overridden function to redirect this call to the real state in the other application. More...

bool	__hasActiveSubstate () override
	Overridden function to redirect this call to the real state in the other application. More...

bool	__hasSubstates () override
	not used at the moment More...

void	__notifyEventBufferedDueToUnbreakableState (bool eventBuffered) override
	Overridden function to redirect this call to the real state in the other application. More...

void	__updateGlobalStateIdRecursive () override

bool	_baseOnBreak (const EventPtr evt) override
	Called by processEvent()-function or parentstate. Must NOT be called by user. More...

void	_baseOnEnter () override
	Overridden function to redirect this call to the real state in the other application. More...

void	_baseOnExit () override
	Overridden function to redirect this call to the real state in the other application. More...

void	refetchSubstates () override
	This functions updates the substates. More...

Protected Member Functions inherited from State
State &	operator= (const State &source)

	State ()

	State (const State &source)

	~State () override

Protected Member Functions inherited from StateUtility
ConditionIdentifier	installCondition (const Term &condition, const EventPtr evt, const std::string &desc="")
	Utility function to install a condition on the distributed conditionhandler. More...

template<class Eventclass >
ConditionIdentifier	installCondition (const Term &condition, const std::string &desc="")
	Utility function to install a condition on the distributed conditionhandler. More...

void	removeCondition (ConditionIdentifier conditionId)
	Utility function to remove an installed condition on the distributed conditionhandler. More...

void	removeCounterEvent (const ActionEventIdentifier &id)

void	removeTimeoutEvent (const ActionEventIdentifier &id)

void	sendEvent (const EventPtr event, StateBasePtr eventProcessor=nullptr)
	Function to send an event to a specific state from an onEnter()-function. Must not be called anywhere else. The event is processed after the onEnter()-function of this and all initial substates have returned. Use of this function should be avoided since this statemachine is blocked until this event and all subsequent sendEvents() are processed. More...

template<class Event >
void	sendEvent (StateBasePtr eventProcessor=nullptr)

ActionEventIdentifier	setCounterEvent (int counterThreshold, const EventPtr &evt, int initialValue=0)

template<class Eventclass >
ActionEventIdentifier	setCounterEvent (int counterThreshold, int initialValue=0)

template<class Eventclass >
ActionEventIdentifier	setTimeoutEvent (int timeoutDurationMs)

ActionEventIdentifier	setTimeoutEvent (int timeoutDurationMs, const EventPtr &evt)
	Utility function to start a timer on the systemObserver and register an event on the conditionHandler. The condition is automatically removed, when the state is left. More...

Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

const LogSenderPtr &	getLogSender () const
	Retrieve log sender. More...

LogSenderPtr	loghelper (const char file, int line, const char function) const

Protected Member Functions inherited from ManagedIceObject
template<class PluginT , class... ParamsT>
PluginT *	addPlugin (const std::string prefix="", ParamsT &&...params)

template<class PluginT , class... ParamsT>
void	addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&...params)

template<class PluginT , class... ParamsT>
void	addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&...params)

Ice::CommunicatorPtr	getCommunicator () const

std::unique_ptr< ManagedIceObjectPlugin > &	getPluginPointer (std::type_info const &type, std::string const &prefix)

	ManagedIceObject ()
	Protected default constructor. More...

virtual void	onExitComponent ()
	Hook for subclass. More...

virtual void	postOnConnectComponent ()

virtual void	postOnDisconnectComponent ()

virtual void	postOnExitComponent ()

virtual void	postOnInitComponent ()

virtual void	preOnConnectComponent ()

virtual void	preOnDisconnectComponent ()

virtual void	preOnExitComponent ()

virtual void	preOnInitComponent ()

bool	removeProxyDependency (const std::string &name)
	This function removes the dependency of this object on the in parameter name specified object. More...

void	setName (std::string name)
	Override name of well-known object. More...

void	terminate ()
	Initiates termination of this IceManagedObject. More...

	~ManagedIceObject () override

Friends
class	DynamicRemoteState

Additional Inherited Members
Public Types inherited from StateController
using	transitionFunction = std::function< void(StateController *state, const StateIceBasePtr &nextState, const StateIceBasePtr &previousState)>

using	TransitionFunctionMap = std::map< std::string, transitionFunction >

Public Types inherited from StateBase
enum	StatePhase { ePreDefined, eStatechartDefinitions, eSubstatesDefinitions, eParametersDefinitions, eDefined, eEntering, eEntered, eBreaking, eExiting, eExited }
	enum that specifies the phase in which the state is currently in used to control the usage of state-functions in the correct context More...

Public Types inherited from ManagedIceObject
using	PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>

Static Public Member Functions inherited from StateBase
static std::vector< StateBasePtr >	GetActiveStateLeafs (StateBasePtr toplevelState)

Static Public Member Functions inherited from ManagedIceObject
static std::string	generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
	Generates a unique name for a sub object from a general name and unique name. More...

static std::string	GetObjectStateAsString (int state)

Public Attributes inherited from StateController
std::unique_ptr< Impl >	cimpl

Public Attributes inherited from StateBase
std::unique_ptr< Impl >	impl

Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr	NullPtr
	A nullptr to be used when a const ref to a nullptr is required. More...

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Detailed Description

This Statetype is used to create a state instance that represents a state that is located in another application. It is added in a parent state by calling State::addRemoteState(statename, proxyname).
If a RemoteState is entered for the first time, it creates automatically a new instance at the remotely located RemoteStateOfferer that contains the real state. The RemoteState receives upon creation of the new real-state instance an unique id of this state for further communication.
This id is automatically used in the onBreak- and onExit-functions, to communicate with the correct state.
Except the state creation-call (which should return immediately) all remote procedure calls are async calls.

See also: RemoteStateOfferer

Definition at line 62 of file RemoteState.h.

Constructor & Destructor Documentation

◆ RemoteState() [1/2]

RemoteState ( )

Definition at line 39 of file RemoteState.cpp.

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◆ RemoteState() [2/2]

RemoteState ( const RemoteState & source )

Definition at line 49 of file RemoteState.cpp.

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◆ ~RemoteState()

~RemoteState ( )

override

Definition at line 82 of file RemoteState.cpp.

Member Function Documentation

◆ __breakActiveSubstate()

bool __breakActiveSubstate ( const EventPtr event )

overrideprotectedvirtual

Overridden function to redirect this call to the real state in the other application.

Reimplemented from StateController.

Definition at line 634 of file RemoteState.cpp.

◆ __hasActiveSubstate()

bool __hasActiveSubstate ( )

overrideprotectedvirtual

Overridden function to redirect this call to the real state in the other application.

Reimplemented from StateBase.

Definition at line 429 of file RemoteState.cpp.

◆ __hasSubstates()

bool __hasSubstates ( )

overrideprotectedvirtual

not used at the moment

Overridden function to redirect this call to the real state in the other application.

Reimplemented from StateBase.

Definition at line 412 of file RemoteState.cpp.

◆ __notifyEventBufferedDueToUnbreakableState()

void __notifyEventBufferedDueToUnbreakableState ( bool eventBuffered )

overrideprotectedvirtual

Overridden function to redirect this call to the real state in the other application.

Reimplemented from StateController.

Definition at line 596 of file RemoteState.cpp.

◆ __updateGlobalStateIdRecursive()

void __updateGlobalStateIdRecursive ( )

overrideprotectedvirtual

Reimplemented from StateBase.

Definition at line 618 of file RemoteState.cpp.

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◆ _baseOnBreak()

bool _baseOnBreak ( const EventPtr evt )

overrideprotectedvirtual

Called by processEvent()-function or parentstate. Must NOT be called by user.

Calls OnBreak() in this hierarchylevel and all sub levels.

Reimplemented from StateController.

Definition at line 553 of file RemoteState.cpp.

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◆ _baseOnEnter()

void _baseOnEnter ( )

overrideprotectedvirtual

Overridden function to redirect this call to the real state in the other application.

Reimplemented from StateController.

Definition at line 512 of file RemoteState.cpp.

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◆ _baseOnExit()

void _baseOnExit ( )

overrideprotectedvirtual

Overridden function to redirect this call to the real state in the other application.

Reimplemented from StateController.

Definition at line 578 of file RemoteState.cpp.

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◆ clone()

StateBasePtr clone ( ) const

overridevirtual

Pure virtual function to clone of the derived class type.

Implemented function should create a new instance with new and return the StateBasePtr. The new instance should contain a reseted, but initialized version of the original.

Implements StateBase.

Definition at line 279 of file RemoteState.cpp.

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◆ createEmptyCopy()

StateBasePtr createEmptyCopy ( ) const

overridevirtual

Implements StateBase.

Definition at line 295 of file RemoteState.cpp.

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◆ getDefaultName()

std::string getDefaultName ( ) const

overridevirtual

Retrieve default name of component.

Implement this method in each IceManagedObject. The default name of a is used if no name is specified in the factory method.

Returns: default name of the component (e.g. "KinematicUnit")

Implements ManagedIceObject.

Definition at line 308 of file RemoteState.cpp.

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◆ getInputParameters()

StateParameterMap getInputParameters ( )

overridevirtual

Not const because RemoteState implementation gets the current parameters via Ice and sets them.

Implements StateBase.

Definition at line 446 of file RemoteState.cpp.

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◆ getOutputParameters()

StateParameterMap & getOutputParameters ( )

overridevirtual

Reimplemented from StateBase.

Definition at line 464 of file RemoteState.cpp.

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◆ getParentStateLayout()

StateIceBasePtr getParentStateLayout ( const Ice::Current & ) const

override

Definition at line 640 of file RemoteState.cpp.

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◆ getRemoteStatePtr()

StateBasePtr getRemoteStatePtr ( )

Function that retrieves a copy of the remoteState. Calling functions or setting members on this instance won't have any effect.

Definition at line 485 of file RemoteState.cpp.

◆ getRemoteUnbreakableBufferSize()

Ice::Int getRemoteUnbreakableBufferSize ( const ::Ice::Current & = Ice::emptyCurrent ) const

override

Definition at line 374 of file RemoteState.cpp.

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◆ getRemoteUnbreakableBufferStati()

bool getRemoteUnbreakableBufferStati ( const ::Ice::Current & = Ice::emptyCurrent ) const

override

Definition at line 392 of file RemoteState.cpp.

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◆ isInitialized()

bool isInitialized ( ) const

overridevirtual

Returns the status of this state. Only if a state is initialized, it can be used.

Returns: Status of state.

Reimplemented from StateBase.

Definition at line 506 of file RemoteState.cpp.

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◆ onConnectComponent()

void onConnectComponent ( )

overridevirtual

Pure virtual hook for the subclass.

Is called once all dependencies of the object have been resolved and Ice connection is established. This hook is called whenever the dependencies are found. That means if the a depedency crashes or shuts down, the ManagedIceObject goes into disconnected state. When the dependencies are found again, this hook is called again.

See also: onDisconnectComponent()

Implements ManagedIceObject.

Definition at line 130 of file RemoteState.cpp.

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◆ onDisconnectComponent()

void onDisconnectComponent ( )

overridevirtual

Hook for subclass.

Is called if a dependency of the object got lost (crash, network error, stopped, ...). This hook should be the inverse to onConnectComponent(). So that onDisconnectComponent() and onConnectComponent() can be called alternatingly and the ManagedIceObject remains in valid states. *

See also: onConnectComponent

Reimplemented from ManagedIceObject.

Definition at line 251 of file RemoteState.cpp.

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◆ onInitComponent()

void onInitComponent ( )

overridevirtual

Pure virtual hook for the subclass.

Is called once initialization of the ManagedIceObject is done. This hook is called in the implenting class once and never again during the lifecyle of the object. This function is called as soon as the ManagedIceObject was added to the ArmarXManager. Called in an own thread and not the thread it was created in.

Implements ManagedIceObject.

Definition at line 120 of file RemoteState.cpp.

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◆ operator=()

RemoteState & operator= ( const RemoteState & source )

Definition at line 76 of file RemoteState.cpp.

◆ refetchSubstates()

void refetchSubstates ( )

overrideprotectedvirtual

This functions updates the substates.

For local states only calls the substates refetch function, but for remoteStates requests the data via Ice.

Reimplemented from StateBase.

Definition at line 606 of file RemoteState.cpp.

◆ remoteEnqueueEvent()

void remoteEnqueueEvent	(	const EventBasePtr &	evt,
		const ::Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 345 of file RemoteState.cpp.

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◆ remoteFinalize()

void remoteFinalize	(	const StringVariantContainerBaseMap &	properties,
		const EventBasePtr &	event,
		const ::Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 357 of file RemoteState.cpp.

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◆ remoteProcessBufferedEvents()

void remoteProcessBufferedEvents ( const ::Ice::Current & c = Ice::emptyCurrent )

override

Definition at line 319 of file RemoteState.cpp.

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◆ remoteProcessEvent()

void remoteProcessEvent	(	const EventBasePtr &	evt,
		bool	buffered,
		const ::Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 331 of file RemoteState.cpp.

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◆ remoteRefetchSubstates()

void remoteRefetchSubstates ( const ::Ice::Current & c = Ice::emptyCurrent )

◆ setOutput()

void setOutput	(	const ::armarx::StringVariantContainerBaseMap &	properties,
		const ::Ice::Current &	c = `Ice::emptyCurrent`
	)

◆ setProxyName()

void setProxyName ( const std::string & proxyName )

Definition at line 109 of file RemoteState.cpp.

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◆ setStateName()

void setStateName ( const std::string & stateName )

Definition at line 99 of file RemoteState.cpp.

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◆ waitForInitialization()

bool waitForInitialization ( int timeoutMS ) const

overridevirtual

Reimplemented from StateBase.

Definition at line 495 of file RemoteState.cpp.

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Friends And Related Function Documentation

◆ DynamicRemoteState

friend class DynamicRemoteState

friend

Definition at line 130 of file RemoteState.h.

The documentation for this class was generated from the following files:

ArmarXCore/statechart/RemoteState.h
ArmarXCore/statechart/RemoteState.cpp

Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RemoteState() [1/2]

◆ RemoteState() [2/2]

◆ ~RemoteState()

Member Function Documentation

◆ __breakActiveSubstate()

◆ __hasActiveSubstate()

◆ __hasSubstates()

◆ __notifyEventBufferedDueToUnbreakableState()

◆ __updateGlobalStateIdRecursive()

◆ _baseOnBreak()

◆ _baseOnEnter()

◆ _baseOnExit()

◆ clone()

◆ createEmptyCopy()

◆ getDefaultName()

◆ getInputParameters()

◆ getOutputParameters()

◆ getParentStateLayout()

◆ getRemoteStatePtr()

◆ getRemoteUnbreakableBufferSize()

◆ getRemoteUnbreakableBufferStati()

◆ isInitialized()

◆ onConnectComponent()

◆ onDisconnectComponent()

◆ onInitComponent()

◆ operator=()

◆ refetchSubstates()

◆ remoteEnqueueEvent()

◆ remoteFinalize()

◆ remoteProcessBufferedEvents()

◆ remoteProcessEvent()

◆ remoteRefetchSubstates()

◆ setOutput()

◆ setProxyName()

◆ setStateName()

◆ waitForInitialization()

Friends And Related Function Documentation

◆ DynamicRemoteState