This class contains a statechart and provides the interfaces to distributed components. More...

#include <ArmarXCore/statechart/StatechartContext.h>

Inheritance diagram for StatechartContext:

Public Member Functions
PropertyDefinitionsPtr	createPropertyDefinitions () override

ChannelRefPtr	getChannelRef (const std::string &observerName, const std::string &channelName) override

DatafieldRefPtr	getDatafieldRef (ChannelRefPtr channelRef, const std::string &datafieldName) override

DatafieldRefPtr	getDatafieldRef (const DataFieldIdentifier &datafieldIdentifier) override

VariantBasePtr	getDataFromObserver (const DataFieldIdentifierBasePtr &identifier) override

TimedVariantBaseList	getDataListFromObserver (std::string observerName, const DataFieldIdentifierBaseList &identifierList) override

virtual void	onConnectStatechart ()=0
	onConnectStatechart is called before armarx::StatechartContext::startStatechart() and after armarx::StatechartContext::onConnectStatechartContext() More...

virtual void	onExitStatechart ()
	onExitStatechart can be implemented by subclasses More...

virtual void	onInitStatechart ()=0
	onInitStatechart this method is called when the statechart is started. More...

void	setAutoEnterToplevelState (bool autoEnter)
	setAutoStartStatechart controls whether the toplevelstate is automatically entered, when the statechart manager is started, More...

void	setReportingTopic (std::string reportingTopic)

bool	setToplevelState (const armarx::StatePtr &newToplevelState, StringVariantContainerBaseMap startParameters=StringVariantContainerBaseMap())
	setToplevelState initializes `newToplevelState` with the current StatechartContext and the current StatechartContext::statechartManager and sets `newToplevelState` as top-level state on the current StatechartContext::statechartManager. More...

void	startStatechart ()
	startStatechart actives both, the toplevel startchart stored in the variable statechart and the StatechartManager for handling eventprocessing. More...

	StatechartContext ()

	~StatechartContext () override

Public Member Functions inherited from Component
virtual void	componentPropertiesUpdated (const std::set< std::string > &changedProperties)
	Implement this function if you would like to react to changes in the properties. More...

void	forceComponentCreatedByComponentCreateFunc ()
	forces the flag to be set to true that the object instance was created by the Component::create function More...

std::vector< PropertyUserPtr >	getAdditionalPropertyUsers () const

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name)

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name) const

template<class T >
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T >
void	getProperty (T &val, const std::string &name) const

template<class ProxyType >
ProxyType	getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Get a proxy whose name is specified by the given property. More...

template<class ProxyType >
void	getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)

template<class TopicProxyType >
TopicProxyType	getTopicFromProperty (const std::string &propertyName)
	Get a topic proxy whose name is specified by the given property. More...

template<class TopicProxyType >
void	getTopicFromProperty (TopicProxyType &top, const std::string &propertyName)

void	initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain)
	initializes the properties of this component. More...

void	injectPropertyDefinitions (PropertyDefinitionsPtr &props) override

void	offeringTopicFromProperty (const std::string &propertyName)
	Offer a topic whose name is specified by the given property. More...

virtual void	preOnConnectComponent () override

virtual void	preOnInitComponent () override

bool	usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="")
	Use a proxy whose name is specified by the given property. More...

void	usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
	Use a topic whose name is specified by the given property. More...

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...

virtual std::string	getDefaultName () const =0
	Retrieve default name of component. 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)

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 PropertyUser
std::vector< std::string >	getComponentProxyNames ()

Ice::PropertiesPtr	getIceProperties () const
	Returns the set of Ice properties. More...

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name)
	Property creation and retrieval. More...

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name) const
	Hack to allow using getProperty in `const`-modified methods. More...

template<class T >
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T >
void	getProperty (T &val, const std::string &name) const

template<class T >
std::vector< T >	getPropertyAsCSV (const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

template<class ContainerT >
void	getPropertyAsCSV (ContainerT &val, const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

PropertyDefinitionsPtr	getPropertyDefinitions ()
	Returns the component's property definition container. More...

std::vector< std::string >	getSubscribedTopicNames ()

std::vector< std::string >	getTopicProxyNames ()

bool	hasProperty (const std::string &name)

	PropertyUser ()

virtual void	setIceProperties (Ice::PropertiesPtr properties)
	Sets the Ice properties. More...

bool	tryAddProperty (const std::string &propertyName, const std::string &value)

virtual void	updateIceProperties (const std::map< std::string, std::string > &changes)

void	updateProperties ()

void	updateProxies (IceManagerPtr)

	~PropertyUser () override

Public Member Functions inherited from StatechartContextInterface
virtual	~StatechartContextInterface ()=default

Public Attributes
ConditionHandlerInterfacePrx	conditionHandlerPrx

StatechartEventDistributorPtr	eventDistributor
	The EventListenerInterface instance, that receives events from observers and redirects them to the correct states. More...

std::unordered_map< std::string, ObserverInterfacePrx >	observerMap

StatechartManagerPtr	statechartManager

SystemObserverInterfacePrx	systemObserverPrx

Protected Member Functions
virtual void	onConnectStatechartContext ()
	onConnectStatechartContext can be implemented by subclasses More...

virtual void	onInitStatechartContext ()
	onInitStatechartonInitStatechartContext can be implemented by subclasses More...

Protected Member Functions inherited from Component
void	addPropertyUser (const PropertyUserPtr &subPropertyUser)
	Add additional property users here that should show up in the application help text. More...

	Component ()
	Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead. More...

std::string	getConfigDomain ()
	Retrieve config domain for this component as set in constructor. More...

std::string	getConfigIdentifier ()
	Retrieve config identifier for this component as set in constructor. More...

std::string	getConfigName ()
	Retrieve config name for this component as set in constructor. More...

virtual void	icePropertiesInitialized ()

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	postOnConnectComponent ()

virtual void	postOnDisconnectComponent ()

virtual void	postOnExitComponent ()

virtual void	postOnInitComponent ()

virtual void	preOnDisconnectComponent ()

virtual void	preOnExitComponent ()

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

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
bool	autoEnterToplevelState

std::string	reportingTopic

Profiler::ProfilerPtr	stateReporter

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

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

Static Public Member Functions inherited from Component
template<class T , class TPtr = IceInternal::Handle<T>>
static TPtr	create (Ice::PropertiesPtr properties=Ice::createProperties(), const std::string &configName="", const std::string &configDomain="ArmarX")
	Factory method for a component. More...

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)

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...

Detailed Description

This class contains a statechart and provides the interfaces to distributed components.

This class inherits from armarx::Component and should be the entry point for applications containing a statechart. This class contains all the proxies to distributed components like the ConditionHandler or the KinematicUnit.
This class should only be created once per application and the top-level state of this StatechartContext should be set via armarx::StatechartContext::setToplevelState().

The StatechartContext is available from the State-implementations with StateBase::getContext<StatechartContextType>().

If a statechart needs other proxies to Ice objects (

See also: armarx::ManagedIceObject), this class needs to be subclassed and armarx::StatechartContext::onInitStatechartContext() and armarx::StatechartContext::onConnectStatechartContext() reimplemented. But keep in mind to call armarx::StatechartContext::onInitStatechartContext() and armarx::StatechartContext::onConnectStatechartContext() (or the intermediate statechart context, from which you are deriving) in your reimplentation.

Definition at line 89 of file StatechartContext.h.

Constructor & Destructor Documentation

◆ StatechartContext()

StatechartContext ( )

Definition at line 48 of file StatechartContext.cpp.

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◆ ~StatechartContext()

~StatechartContext ( )

override

Definition at line 55 of file StatechartContext.cpp.

Member Function Documentation

◆ createPropertyDefinitions()

PropertyDefinitionsPtr createPropertyDefinitions ( )

overridevirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Reimplemented in PlatformContext, RobotStatechartContext, RobotControl, and FindAndGraspObjectContext.

Definition at line 60 of file StatechartContext.cpp.

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◆ getChannelRef()

ChannelRefPtr getChannelRef	(	const std::string &	observerName,
		const std::string &	channelName
	)

overridevirtual

Implements StatechartContextInterface.

Definition at line 142 of file StatechartContext.cpp.

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◆ getDatafieldRef() [1/2]

DatafieldRefPtr getDatafieldRef	(	ChannelRefPtr	channelRef,
		const std::string &	datafieldName
	)

overridevirtual

Implements StatechartContextInterface.

Definition at line 175 of file StatechartContext.cpp.

◆ getDatafieldRef() [2/2]

DatafieldRefPtr getDatafieldRef ( const DataFieldIdentifier & datafieldIdentifier )

overridevirtual

Implements StatechartContextInterface.

Definition at line 169 of file StatechartContext.cpp.

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◆ getDataFromObserver()

VariantBasePtr getDataFromObserver ( const DataFieldIdentifierBasePtr & identifier )

overridevirtual

Implements StatechartContextInterface.

Definition at line 132 of file StatechartContext.cpp.

◆ getDataListFromObserver()

TimedVariantBaseList getDataListFromObserver	(	std::string	observerName,
		const DataFieldIdentifierBaseList &	identifierList
	)

overridevirtual

Implements StatechartContextInterface.

Definition at line 122 of file StatechartContext.cpp.

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◆ onConnectStatechart()

virtual void onConnectStatechart ( )

pure virtual

onConnectStatechart is called before armarx::StatechartContext::startStatechart() and after armarx::StatechartContext::onConnectStatechartContext()

Implemented in RemoteStateOfferer< ContextType >, RemoteStateOfferer< FindAndGraspObjectContext >, RemoteStateOfferer< StatechartContext >, RemoteStateOfferer< PlatformContext >, StatechartPerformanceTest, TimeoutExample, ClientState, StateParameterExample, and InstallConditionExample.

◆ onConnectStatechartContext()

virtual void onConnectStatechartContext ( )

inlineprotectedvirtual

onConnectStatechartContext can be implemented by subclasses

Override this method to retrieve the proxies and topics specified in armarx::StatechartContext::onInitStatechart() via armarx::Component::getProxy() and armarx::Component::getTopic().

This method is called by armarx::StatechartContext::onConnectComponent().

Reimplemented in CoupledInteractionGroupStatechartContext, PlatformContext, BringObjectGroupStatechartContext, RobotStatechartContext, MotionControlGroupStatechartContext, HandGroupStatechartContext, TrackingGroupStatechartContext, FindAndGraspObjectContext, and PickAndPlaceGroupStatechartContext.

Definition at line 119 of file StatechartContext.h.

◆ onExitStatechart()

virtual void onExitStatechart ( )

inlinevirtual

onExitStatechart can be implemented by subclasses

Override this method to perform cleanup tasks when the statechart is left.

Reimplemented in RemoteStateOfferer< ContextType >, RemoteStateOfferer< FindAndGraspObjectContext >, RemoteStateOfferer< StatechartContext >, RemoteStateOfferer< PlatformContext >, and StatechartPerformanceTest.

Definition at line 177 of file StatechartContext.h.

◆ onInitStatechart()

virtual void onInitStatechart ( )

pure virtual

onInitStatechart this method is called when the statechart is started.

See also: armarx::RemoteStateOfferer

Implemented in RemoteStateOfferer< ContextType >, RemoteStateOfferer< FindAndGraspObjectContext >, RemoteStateOfferer< StatechartContext >, RemoteStateOfferer< PlatformContext >, StatechartPerformanceTest, TimeoutExample, ClientState, StateParameterExample, and InstallConditionExample.

◆ onInitStatechartContext()

virtual void onInitStatechartContext ( )

inlineprotectedvirtual

onInitStatechartonInitStatechartContext can be implemented by subclasses

Override this method to specify required proxies and topics via armarx::Component::usingProxy(), armarx::Component::usingTopic() and armarx::Component::offeringTopic().

This method is calle by armarx::StatechartContext::onInitComponent().

Reimplemented in CoupledInteractionGroupStatechartContext, BringObjectGroupStatechartContext, RobotStatechartContext, MotionControlGroupStatechartContext, PlatformContext, HandGroupStatechartContext, TrackingGroupStatechartContext, PickAndPlaceGroupStatechartContext, and FindAndGraspObjectContext.

Definition at line 109 of file StatechartContext.h.

◆ setAutoEnterToplevelState()

void setAutoEnterToplevelState ( bool autoEnter )

setAutoStartStatechart controls whether the toplevelstate is automatically entered, when the statechart manager is started,

Parameters

autostart

Definition at line 187 of file StatechartContext.cpp.

◆ setReportingTopic()

void setReportingTopic ( std::string reportingTopic )

Definition at line 192 of file StatechartContext.cpp.

◆ setToplevelState()

bool setToplevelState	(	const armarx::StatePtr &	newToplevelState,
		StringVariantContainerBaseMap	startParameters = `StringVariantContainerBaseMap()`
	)

setToplevelState initializes newToplevelState with the current StatechartContext and the current StatechartContext::statechartManager and sets newToplevelState as top-level state on the current StatechartContext::statechartManager.

Parameters

newToplevelState
startParameters

Returns

Definition at line 180 of file StatechartContext.cpp.

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◆ startStatechart()

void startStatechart ( )

startStatechart actives both, the toplevel startchart stored in the variable statechart and the StatechartManager for handling eventprocessing.

Definition at line 197 of file StatechartContext.cpp.

Member Data Documentation

◆ autoEnterToplevelState

bool autoEnterToplevelState

protected

Definition at line 190 of file StatechartContext.h.

◆ conditionHandlerPrx

ConditionHandlerInterfacePrx conditionHandlerPrx

Definition at line 186 of file StatechartContext.h.

◆ eventDistributor

StatechartEventDistributorPtr eventDistributor

The EventListenerInterface instance, that receives events from observers and redirects them to the correct states.

Definition at line 184 of file StatechartContext.h.

◆ observerMap

std::unordered_map<std::string, ObserverInterfacePrx> observerMap

Definition at line 179 of file StatechartContext.h.

◆ reportingTopic

std::string reportingTopic

protected

Definition at line 192 of file StatechartContext.h.

◆ statechartManager

StatechartManagerPtr statechartManager

Definition at line 185 of file StatechartContext.h.

◆ stateReporter

Profiler::ProfilerPtr stateReporter

protected

Definition at line 191 of file StatechartContext.h.

◆ systemObserverPrx

SystemObserverInterfacePrx systemObserverPrx

Definition at line 187 of file StatechartContext.h.

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

ArmarXCore/statechart/StatechartContext.h
ArmarXCore/statechart/StatechartContext.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ StatechartContext()

◆ ~StatechartContext()

Member Function Documentation

◆ createPropertyDefinitions()

◆ getChannelRef()

◆ getDatafieldRef() [1/2]

◆ getDatafieldRef() [2/2]

◆ getDataFromObserver()

◆ getDataListFromObserver()

◆ onConnectStatechart()

◆ onConnectStatechartContext()

◆ onExitStatechart()

◆ onInitStatechart()

◆ onInitStatechartContext()

◆ setAutoEnterToplevelState()

◆ setReportingTopic()

◆ setToplevelState()

◆ startStatechart()

Member Data Documentation

◆ autoEnterToplevelState

◆ conditionHandlerPrx

◆ eventDistributor

◆ observerMap

◆ reportingTopic

◆ statechartManager

◆ stateReporter

◆ systemObserverPrx