#include <ArmarXCore/statechart/StateController.h>

Inheritance diagram for StateController:

Classes
struct	Impl

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

virtual bool	__breakActiveSubstate (const EventPtr event)

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...

virtual void	__notifyEventBufferedDueToUnbreakableState (bool eventBuffered=true)

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

virtual void	_baseOnEnter ()
	Called by StateControllerprocessEvent()-function or parentstate. More...

virtual void	_baseOnExit ()
	Called by StateController::processEvent()-function or parentstate. Must NOT be called by user. More...

virtual void	_baseRun ()

virtual void	_removeInstalledConditions ()
	This function is implemented in StateUtil and removes all conditions that have been installed in onEnter() or run(). More...

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...

virtual bool	__hasActiveSubstate ()
	Virtual function to indicate wheter a state has an active substate or not. To be overridden by RemoteState to deligate the call to the real state. More...

virtual bool	__hasSubstates ()
	Virtual function to indicate wheter a state has substates or not. To be overridden by RemoteState to deligate the call to the real state. More...

void	__setParentState (StateBase *parentState)

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

void	__updateGlobalStateId ()

virtual void	__updateGlobalStateIdRecursive ()

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 StateBasePtr	clone () const =0
	Pure virtual function to clone of the derived class type. More...

virtual StateBasePtr	createEmptyCopy () const =0

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

virtual StateParameterMap	getInputParameters ()=0
	Not const because RemoteState implementation gets the current parameters via Ice and sets them. More...

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

virtual StateParameterMap &	getOutputParameters ()

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...

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

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

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)

virtual bool	waitForInitialization (int timeoutMS=-1) const

	~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 Attributes
std::unique_ptr< Impl >	cimpl

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

Friends
class	DynamicRemoteState

template<class EventType , class StateType >
class	FinalStateBase

class	RemoteState

template<typename ContextType >
class	RemoteStateOfferer

class	State

class	StatechartContext

class	StatechartEventDistributor

class	StatechartManager

class	StateUtility

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

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 Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Detailed Description

The StateController class processes events and controls the statechart flow.

Definition at line 55 of file StateController.h.

Member Typedef Documentation

◆ transitionFunction

using transitionFunction = std::function<void(StateController* state, const StateIceBasePtr& nextState, const StateIceBasePtr& previousState)>

Definition at line 59 of file StateController.h.

◆ TransitionFunctionMap

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

Definition at line 60 of file StateController.h.

Constructor & Destructor Documentation

◆ StateController() [1/2]

StateController ( )

Definition at line 50 of file StateController.cpp.

◆ StateController() [2/2]

StateController ( const StateController & source )

Definition at line 55 of file StateController.cpp.

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◆ ~StateController()

~StateController ( )

override

Definition at line 68 of file StateController.cpp.

Member Function Documentation

◆ __applyMappings()

bool __applyMappings	(	const StateControllerPtr &	srcState,
		const TransitionIceBase &	t,
		const EventPtr &	event,
		TransitionError &	error
	)

Apply the mappings during a transitions.

The order is parent's local, parent's output and then next state's input.

Parameters

srcState
t	Transition that is currently executed
event	Event that led to the transition

Definition at line 211 of file StateController.cpp.

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◆ __breakActiveSubstate()

bool __breakActiveSubstate ( const EventPtr event )

virtual

Reimplemented in RemoteState.

Definition at line 559 of file StateController.cpp.

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◆ __checkExistenceOfTransition()

bool __checkExistenceOfTransition ( const TransitionIceBase & transition )

Definition at line 631 of file StateController.cpp.

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◆ __enqueueEvent()

void __enqueueEvent ( const EventPtr event )

virtual

Reimplemented in RemoteStateWrapper.

Definition at line 195 of file StateController.cpp.

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◆ __finalize()

void __finalize ( const EventPtr event )

virtual

Function that gets called, when a state enters a FinalSubstate. Virtual function, so that RemoteStateWrapper can override it.

Reimplemented in RemoteStateWrapper.

Definition at line 188 of file StateController.cpp.

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◆ __findValidTransition()

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

Definition at line 420 of file StateController.cpp.

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◆ __getParentState()

StateControllerPtr __getParentState ( ) const

Getter function that automatically casts the parentState member of StateBase into StateControllerPtr.

Exceptions

LocalException if parent state could not be cas

Returns: Pointer to the parent state

Definition at line 540 of file StateController.cpp.

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◆ __getUnbreakableBufferSize()

unsigned int __getUnbreakableBufferSize ( ) const

virtual

Reimplemented in RemoteStateWrapper.

Definition at line 514 of file StateController.cpp.

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◆ __getUnbreakableBufferStati()

bool __getUnbreakableBufferStati ( ) const

virtual

Before:Function to get the unbreakable-buffer status of all parent state - recursively.

now: checks the flag for the buffer, that gets set externally
Returns
Returns true if no parent has any events in the unbreakable buffer, false otherwise.

Reimplemented in RemoteStateWrapper.

Definition at line 1159 of file StateController.cpp.

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◆ __notifyEventBufferedDueToUnbreakableState()

void __notifyEventBufferedDueToUnbreakableState ( bool eventBuffered = true )

virtual

This virtual function notifies all substates that an event has been buffered due to unbreakable states and that they must not process any further events when they have reached a breakable state.

Reimplemented in RemoteState.

Definition at line 519 of file StateController.cpp.

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◆ __printTransitionError()

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

Definition at line 271 of file StateController.cpp.

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◆ __processBufferedEvents()

void __processBufferedEvents ( )

virtual

Processes buffered events, that could not be processed immediately due to unbreakable substates.

Gets called after a transition from a unbreakable substate to a breakable substate after execution of OnEnter() of the breakable state.
It is not called yet, when a transition occurs between 2 unbreakable states.
The calling substate can be of any level below this state in the hierarchy.

Reimplemented in RemoteStateWrapper.

Definition at line 582 of file StateController.cpp.

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◆ __processEvent()

void __processEvent	(	const EventPtr	event,
		bool	buffered = `false`
	)

virtual

Main function to control the statemachine/state.

Determines with Parameter event, the active state and the transitiontable, which transition to choose.
If no transition is found, an eUnexpectedEvent-exception is thrown.

Reimplemented in RemoteStateWrapper.

Definition at line 299 of file StateController.cpp.

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◆ __substatesFinished()

void __substatesFinished ( const EventPtr ev )

virtual

Function that gets called, when a state enters a FinalSubstate. Virtual function, so that RemoteStateWrapper can override it.

Definition at line 167 of file StateController.cpp.

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◆ __validateTransition()

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

Definition at line 461 of file StateController.cpp.

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◆ __waitForRemoteStates()

void __waitForRemoteStates ( ) const

Definition at line 608 of file StateController.cpp.

◆ _baseOnBreak()

bool _baseOnBreak ( const EventPtr evt )

virtual

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

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

Reimplemented in DynamicRemoteState, and RemoteState.

Definition at line 934 of file StateController.cpp.

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◆ _baseOnEnter()

void _baseOnEnter ( )

virtual

Called by StateControllerprocessEvent()-function or parentstate.

Must NOT be called by user.

Calls OnEnter() in this hierarchylevel and of every initialstate of all sub levels.

Reimplemented in DynamicRemoteState, and RemoteState.

Definition at line 649 of file StateController.cpp.

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◆ _baseOnExit()

void _baseOnExit ( )

virtual

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

Calls OnExit() in this hierarchylevel and all sub levels.
@relates baseOnExit()

Reimplemented in DynamicRemoteState, and RemoteState.

Definition at line 852 of file StateController.cpp.

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◆ _baseRun()

void _baseRun ( )

virtual

Definition at line 827 of file StateController.cpp.

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◆ _removeInstalledConditions()

virtual void _removeInstalledConditions ( )

inlinevirtual

This function is implemented in StateUtil and removes all conditions that have been installed in onEnter() or run().

It is called after onExit()

Definition at line 201 of file StateController.h.

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◆ _startRun()

void _startRun ( )

virtual

Definition at line 808 of file StateController.cpp.

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◆ addProfilerRecursive()

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).

recursiveLevels determins how many levels deep this new profiler object should be set:

== -1: all reachable substates
== 0: only current state
> 0: current state + recursiveLevels deep)

This is automtically set in armarx::StatechartContext::setToplevelState() based on statechart properties.

Parameters

profiler	profiler instance to use in the state for calling armarx::Profiler::Profiler methods
recursiveLevels	how many levels deep the profiler should be set

Definition at line 1033 of file StateController.cpp.

◆ addTransitionFunction()

void addTransitionFunction	(	const TransitionIceBase &	t,
		StateController::transitionFunction	function
	)

Definition at line 1125 of file StateController.cpp.

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◆ disableRunFunction()

void disableRunFunction ( )

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

Note: This function needs to be called before the destructor of the state is called. If not called before destructor, the StateBase::run() function might cause a segfault.

Definition at line 1176 of file StateController.cpp.

◆ disableStateReporting()

void disableStateReporting ( bool disable = true )

Disables the reporting to profilers for this states during state visits.

Definition at line 1120 of file StateController.cpp.

◆ enter()

void enter ( const StringVariantContainerBaseMap & tempInputParameters = StringVariantContainerBaseMap() )

Function to set the statemachine in the first state and call OnEnter().

Should only be called for the outer most state(machine). All initial substates of this state and of it's substates are also entered.

Parameters

inputparameters Dictionary of parameters that should be mapped into the input parameters of this state. Uses '*'=>'*' mapping.

Definition at line 121 of file StateController.cpp.

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◆ findTransition()

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

Definition at line 1142 of file StateController.cpp.

◆ getTransitionID() [1/2]

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

Definition at line 1137 of file StateController.cpp.

◆ getTransitionID() [2/2]

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

Definition at line 1131 of file StateController.cpp.

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◆ isFinished()

bool isFinished ( ) const

Definition at line 84 of file StateController.cpp.

◆ isRunningTaskFinished()

bool isRunningTaskFinished ( ) const

Checks whether the run() function has already finished.

Returns: true if finished

Definition at line 1102 of file StateController.cpp.

◆ isRunningTaskStopped()

bool isRunningTaskStopped ( ) const

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

Check this function periodically in run()

Returns: status of runningtask

Definition at line 1091 of file StateController.cpp.

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◆ removeProfilerRecursive()

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

Definition at line 1061 of file StateController.cpp.

◆ waitForRunningTaskToFinish()

void waitForRunningTaskToFinish ( ) const

Waits until the run-function has finished.

This might be useful to do in onBreak() or onEnter()

See also: onEnter(), onBreak(), onRun()

Definition at line 1111 of file StateController.cpp.

◆ waitForStateToFinish()

void waitForStateToFinish ( int timeoutMs = -1 ) const

waitForStateToFinish waits until this thread has finished (i.e.

a FinalSubState has been reached).

This function can only be called in a toplevelstate (a state with no parent state).

Parameters

timeOutMs

See also: isFinished()

Definition at line 91 of file StateController.cpp.

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Friends And Related Function Documentation

◆ DynamicRemoteState

friend class DynamicRemoteState

friend

Definition at line 258 of file StateController.h.

◆ FinalStateBase

friend class FinalStateBase

friend

Definition at line 255 of file StateController.h.

◆ RemoteState

friend class RemoteState

friend

Definition at line 257 of file StateController.h.

◆ RemoteStateOfferer

friend class RemoteStateOfferer

friend

Definition at line 256 of file StateController.h.

◆ State

friend class State

friend

Definition at line 253 of file StateController.h.

◆ StatechartContext

friend class StatechartContext

friend

Definition at line 261 of file StateController.h.

◆ StatechartEventDistributor

friend class StatechartEventDistributor

friend

Definition at line 259 of file StateController.h.

◆ StatechartManager

friend class StatechartManager

friend

Definition at line 260 of file StateController.h.

◆ StateUtility

friend class StateUtility

friend

Definition at line 254 of file StateController.h.

Member Data Documentation

◆ cimpl

std::unique_ptr<Impl> cimpl

Definition at line 173 of file StateController.h.

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

ArmarXCore/statechart/StateController.h
ArmarXCore/statechart/StateController.cpp

Classes

Public Types

Public Member Functions

Public Attributes

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ transitionFunction

◆ TransitionFunctionMap

Constructor & Destructor Documentation

◆ StateController() [1/2]

◆ StateController() [2/2]

◆ ~StateController()

Member Function Documentation

◆ __applyMappings()

◆ __breakActiveSubstate()

◆ __checkExistenceOfTransition()

◆ __enqueueEvent()

◆ __finalize()

◆ __findValidTransition()

◆ __getParentState()

◆ __getUnbreakableBufferSize()

◆ __getUnbreakableBufferStati()

◆ __notifyEventBufferedDueToUnbreakableState()

◆ __printTransitionError()

◆ __processBufferedEvents()

◆ __processEvent()

◆ __substatesFinished()

◆ __validateTransition()

◆ __waitForRemoteStates()

◆ _baseOnBreak()

◆ _baseOnEnter()

◆ _baseOnExit()

◆ _baseRun()

◆ _removeInstalledConditions()

◆ _startRun()

◆ addProfilerRecursive()

◆ addTransitionFunction()

◆ disableRunFunction()

◆ disableStateReporting()

◆ enter()

◆ findTransition()

◆ getTransitionID() [1/2]

◆ getTransitionID() [2/2]

◆ isFinished()

◆ isRunningTaskFinished()

◆ isRunningTaskStopped()

◆ removeProfilerRecursive()

◆ waitForRunningTaskToFinish()

◆ waitForStateToFinish()

Friends And Related Function Documentation

◆ DynamicRemoteState

◆ FinalStateBase

◆ RemoteState

◆ RemoteStateOfferer

◆ State

◆ StatechartContext

◆ StatechartEventDistributor

◆ StatechartManager

◆ StateUtility

Member Data Documentation

◆ cimpl