State Class Reference

Class that offers the main functionality needed to create a statechart. More...

#include <ArmarXCore/statechart/State.h>

Inheritance diagram for State:

Classes
struct	Impl

Public Member Functions
virtual RemoteStatePtr	addDynamicRemoteState (std::string instanceName)
	Function to add a new dynamic remote substate to this state.
virtual RemoteStatePtr	addRemoteState (std::string stateName, std::string proxyName, std::string instanceName="")
	Function to add a new remote substate to this state.
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.
bool	addToInput (const std::string &key, const ContainerType &type, bool optional, VariantContainerBasePtr defaultValue=VariantContainerBasePtr())
	Adds a key,type-pair to the input parameters.
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.
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.
bool	addToLocal (const std::string &key, VariantTypeId type, VariantPtr defaultValue=VariantPtr())
	Adds a key,type-pair to the local parameters.
bool	addToOutput (const std::string &key, const ContainerType &type, bool optional)
	Adds a new parameter list to the output parameters with a specific type.
bool	addToOutput (const std::string &key, VariantTypeId type, bool optional)
	Adds a key,type-pair to the output parameters.
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.
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.
void	cancelSubstates ()
	Use this function in the onEnter() function, if you want to avoid that the substates (i.e.
StateBasePtr	clone () const override
	Generates a new copy of this state with the same statename, substates, transitions, overidden functions etc.
StateBasePtr	createEmptyCopy () const override
	Generates a new copy of this state with the same overidden functions. stateName, substates, transition etc. are not set.
std::string	getGlobalIdString () const
	Getter for the global state identifier string.
unsigned int	getId () const
	Returns an id to this state, that is guaranteed to be unique in this process.
StateBasePtr	getInitState () const
	Getter for the initial state. The initial state is automatically entered, when this state is entered.
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.
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.
VariantPtr	getInput (const std::string &key) const
	getInput can be used to access a specific input parameter.
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).
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.
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.
VariantContainerBasePtr	getLocalContainer (std::string const &key)
StateParameterMap &	getLocalParameters ()
	Getter for the local parameter map.
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.
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.
StateParameterMap &	getOutputParameters () override
	getter function to get the map of output parameters
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.
bool	isInputParameterSet (const std::string &key) const
	Checks whether a given input parameter is set or not.
bool	isLocalParameterSet (const std::string &key) const
bool	isOutputParameterSet (const std::string &key) const
bool	isUnbreakable () const
StatePtr	operator[] (std::string const &stateName)
	Function to jump directly into a state. Should only be called for statemachine-debugging.
StateBasePtr	setInitState (StateBasePtr initState, ParameterMappingPtr initialStateMapping=ParameterMappingPtr())
	Sets the initial substate of this state.
void	setInput (std::string const &key, const Variant &value)
	setInput() sets an input parameter.
void	setInput (std::string const &key, const VariantContainerBase &valueList)
	setInput() sets an input parameter list.
void	setLocal (std::string const &key, const Variant &value)
	setLocal() sets a local parameter.
void	setLocal (std::string const &key, const VariantContainerBase &valueList)
	setLocal() sets a local parameter list.
void	setOutput (std::string const &key, const Variant &value)
	setOuput() sets an output parameter of this state.
void	setOutput (std::string const &key, const VariantContainerBase &valueList)
	setOuput() sets an output parameter LIST of this state.
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.
void	setUseRunFunction (bool useRunFuntion)
	setUseRunFunction can be used to configurate whether the thread with the async.
Public Member Functions inherited from StateUtility
template<class EventClass>
EventPtr	createEvent ()
	Utility function to create a new Event.
EventPtr	createEvent (const std::string &eventName, const StringVariantContainerBaseMap &properties=StringVariantContainerBaseMap())
	Utility function to create a new Event.
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.
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.
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.
virtual unsigned int	__getUnbreakableBufferSize () const
virtual bool	__getUnbreakableBufferStati () const
	Before:Function to get the unbreakable-buffer status of all parent state - recursively.
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.
virtual void	__processEvent (const EventPtr event, bool buffered=false)
	Main function to control the statemachine/state.
virtual void	__substatesFinished (const EventPtr ev)
	Function that gets called, when a state enters a FinalSubstate. Virtual function, so that RemoteStateWrapper can override it.
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.
virtual void	_baseOnEnter ()
	Called by StateControllerprocessEvent()-function or parentstate.
virtual void	_baseOnExit ()
	Called by StateController::processEvent()-function or parentstate. Must NOT be called by user.
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).
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.
void	disableStateReporting (bool disable=true)
	Disables the reporting to profilers for this states during state visits.
void	enter (const StringVariantContainerBaseMap &tempInputParameters=StringVariantContainerBaseMap())
	Function to set the statemachine in the first state and call OnEnter().
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.
bool	isRunningTaskStopped () const
	isRunningTaskStopped checks whether the RunningTask, that executes run() is requested to stop.
void	removeProfilerRecursive (Profiler::ProfilerPtr profiler, int recursiveLevels=0)
	StateController ()
	StateController (const StateController &source)
void	waitForRunningTaskToFinish () const
	Waits until the run-function has finished.
void	waitForStateToFinish (int timeoutMs=-1) const
	waitForStateToFinish waits until this thread has finished (i.e.
	~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.
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.
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.
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.
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 void	deepCopy (const StateBase &sourceState, bool reset=true)
	Function to copy the states with all it substates and transitions.
virtual void	defineParameters ()
	Virtual function, in which input/local/output parameters can be specified.
virtual void	defineState ()
	Virtual function, in which this state can be configured.
virtual void	defineSubstates ()
	Virtual function, in which substates, transition and mappings can be added.
StateBasePtr	findSubstateByName (const std::string &substateName)
	Utility function to find a substate of this state by the name.
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")
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
StatePhase	getStatePhase () const
EventPtr	getTriggeredEndstateEvent () const
	This function returns the event that was triggered by entering an endstate.
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.
virtual bool	isInitialized () const
	Returns the status of this state. Only if a state is initialized, it can be used.
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.
virtual void	onEnter ()
	Virtual function, in which the behaviour of state is defined, when it is entered. Can be overridden, but it is optional.
virtual void	onExit ()
	Virtual function, in which the behaviour of state is defined, when it is exited. Can be overridden, but it is optional.
StateBase &	operator= (const StateBase &source)
virtual void	refetchSubstates ()
	This functions updates the substates.
void	reset ()
	Function to reset the state: clear name, clear substatesList, clear transition etc.
virtual void	run ()
	Virtual function, that can be reimplemented to calculate complex operations.
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>.
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.
MessageTypeT	getEffectiveLoggingLevel () const
	Logging ()
void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set.
void	setTag (const LogTag &tag)
void	setTag (const std::string &tagName)
virtual	~Logging ()

Protected Member Functions
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.
template<class Eventclass>
ConditionIdentifier	installCondition (const Term &condition, const std::string &desc="")
	Utility function to install a condition on the distributed conditionhandler.
void	removeCondition (ConditionIdentifier conditionId)
	Utility function to remove an installed condition on the distributed conditionhandler.
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.
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.
Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const
const LogSenderPtr &	getLogSender () const
	Retrieve log sender.
LogSenderPtr	loghelper (const char *file, int line, const char *function) const

Friends
template<class EventType, class StateType>
class	FinalStateBase
template<typename ContextType>
class	RemoteStateOfferer
class	RemoteStateWrapper
template<class StateType>
class	StateTemplate

Additional Inherited Members
Public Types inherited from StateController
using	transitionFunction
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...
Static Public Member Functions inherited from StateBase
static std::vector< StateBasePtr >	GetActiveStateLeafs (StateBasePtr toplevelState)
Public Attributes inherited from StateController
std::unique_ptr< Impl >	cimpl
Public Attributes inherited from StateBase
std::unique_ptr< Impl >	impl
Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel
SpamFilterDataPtr	spamFilter
LogTag	tag

Detailed Description

Class that offers the main functionality needed to create a statechart.

Only functions from this class and StateUtility should be used to define custom statecharts.

Constructor & Destructor Documentation

State() [1/2]

State ( )

protected

State() [2/2]

State ( const State & source )

protected

~State()

~State ( )

overrideprotected

Member Function Documentation

addDynamicRemoteState()

RemoteStatePtr addDynamicRemoteState ( std::string instanceName )

virtual

Function to add a new dynamic remote substate to this state.

A Dynamic Remote State is only a placeholder for the real state that is located in another application. Most functioncalls to a Remote State are redirected to the state in other application. The interface is the same as to a normal state.
The differene to a Remote State is, that the location of the real state is unspecified until the Dynamic Remote State-onEnter() function is called by the system. The location of the real state must be specified in the input parameters of the state.
So the inputparameter map must contain a field 'proxyName' and a field 'stateName' with the corresponding values.

Note

Can only be called in defineSubstates() (exception otherwise).

Returns

returns a shared pointer to the created state for convenience. The state is inserted into the std::vector substateList as well.

Reimplemented in RemoteStateOffererBase.

addRemoteState()

RemoteStatePtr addRemoteState ( std::string stateName, std::string proxyName, std::string instanceName = "" )

virtual

Function to add a new remote substate to this state.

A Remote State is only a placeholder for the real state that is located in another application. Most functioncalls to a Remote State are redirected to the state in other application. The interface is the same as to a normal state.

Parameters

stateName	String that describes this state. Must exist on the specified proxy, otherwise an exception is thrown. It is the name, that was set by setStateName(stateName) or addState(stateName).
proxyName	Name of the Ice Proxy, that offers the state

Note

Can only be called in defineSubstates() (exception otherwise).

Returns

returns a shared pointer to the created state for convenience. The state is inserted into the std::vector substateList as well.

Reimplemented in FinalStateBase< EventType, StateType >, FinalStateBase< EvDummy, FinalState< EvDummy > >, and RemoteStateOffererBase.

addState() [1/4]

StateBasePtr addState

(

StateBasePtr

pNewState

)

addState() [2/4]

template<>

StatePtr addState

(

std::string const &

stateName

)

addState() [3/4]

template<>

StatePtr addState

(

std::string const &

stateName

)

addState() [4/4]

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.

Parameters

derivedState	Template parameter that specifies the derived state class of the added state. Must be derived from StateTemplate or class State itself if no further functionality is required.
stateName	String that describes this state. Should be unique in this hierarchy level.

Note

Can only be called in defineSubstates() (exception otherwise).

Returns

returns a shared pointer to the created state for convenience. The state is inserted into the std::vector substateList as well.

addToInput() [1/2]

bool addToInput	(	const std::string &	key,
		const ContainerType &	type,
		bool	optional,
		VariantContainerBasePtr	defaultValue = VariantContainerBasePtr() )

Adds a key,type-pair to the input parameters.

Parameters

key	String to describe the parameter
type	Variable that defines the type of this parameter
optional	Flag to indicate whether or not this parameter must be set, when this state is entered

Returns

returns false if the key already exists. The old type resides.

Note

Can only be called in defineParameters() (exception otherwise).

addToInput() [2/2]

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.

Parameters

key	String to describe the parameter
type	Variable that defines the type of this parameter
optional	Flag to indicate whether or not this parameter must be set, when this state is entered

Returns

returns false if the key already exists. The old type resides.

Note

Can only be called in defineParameters() (exception otherwise).

addToLocal() [1/2]

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.

Parameters

key	String to describe the parameter
type	Variable that defines the type of this parameter
optional	Flag to indicate whether or not this parameter must be set, when this state is entered

Returns

returns false if the key already exists. The old type resides.

Note

Can only be called in defineParameters() (exception otherwise).

addToLocal() [2/2]

bool addToLocal	(	const std::string &	key,
		VariantTypeId	type,
		VariantPtr	defaultValue = VariantPtr() )

Adds a key,type-pair to the local parameters.

Parameters

key	String to describe the parameter
type	Variable that defines the type of this parameter
optional	Flag to indicate whether or not this parameter must be set, when this state is entered

Returns

returns false if the key already exists. The old type resides.

Note

Can only be called in defineParameters() (exception otherwise).

addToOutput() [1/2]

bool addToOutput	(	const std::string &	key,
		const ContainerType &	type,
		bool	optional )

Adds a new parameter list to the output parameters with a specific type.

Parameters

key	String to describe the parameter
type	Variable that defines the type of this parameter
optional	Flag to indicate whether or not this parameter must be set, when this state is entered

Returns

returns false if the key already exists. The old type resides.

Note

Can only be called in defineParameters() (exception otherwise).

addToOutput() [2/2]

bool addToOutput	(	const std::string &	key,
		VariantTypeId	type,
		bool	optional )

Adds a key,type-pair to the output parameters.

Parameters

key	String to describe the parameter
type	Variable that defines the type of this parameter
optional	Flag to indicate whether or not this parameter must be set, when this state is entered

Returns

returns false if the key already exists. The old type resides.

Note

Can only be called in defineParameters() (exception otherwise).

addTransition() [1/2]

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

addTransition() [2/2]

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.

Template Parameters

EventType

Type of the event that trigers this transition.

Parameters

pSourceState	Shared pointer to the state, that must be the active state before this transition. OnExit() is called there.
pDestination	Shared pointer to the state, in which this transition will end. OnEnter() is called there.
pMapping	Mapping from the outputDictionary of pSourceState and the eventDictionary to the inputDictionary of pDestinationState

Note

Can only be called in defineSubstates() (exception otherwise).

Returns

returns reference to added transition

addTransitionFromAllStates()

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.

Note

Can only be called in defineSubstates() (exception otherwise).

cancelSubstates()

void cancelSubstates

(

)

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

the initial state) are entered.

clone()

StateBasePtr clone ( ) const

overridevirtual

Generates a new copy of this state with the same statename, substates, transitions, overidden functions etc.

Implements StateBase.

Reimplemented in StateTemplate< StateType >, StateTemplate< CounterStateTemplate< EvCounterNotFulfilled, EvCounterFulfilled > >, StateTemplate< FinalState< EvDummy > >, StateTemplate< IceGeneratedState >, StateTemplate< RobotPreInitialized >, StateTemplate< Stateadd_x_to_y >, StateTemplate< Statechart_Robot >, StateTemplate< Statechart_StatechartPerfomanceTest >, StateTemplate< Statechart_StateParameterExample >, StateTemplate< StatechartClient >, StateTemplate< StatechartInstallConditionExample >, StateTemplate< stateInstallCondition >, StateTemplate< stateInstallTimeout >, StateTemplate< StateResult >, StateTemplate< StateRobotControl >, StateTemplate< StateRun >, and StateTemplate< TimeoutExampleStatechart >.

createEmptyCopy()

StateBasePtr createEmptyCopy ( ) const

overridevirtual

Generates a new copy of this state with the same overidden functions. stateName, substates, transition etc. are not set.

Implements StateBase.

getGlobalIdString()

std::string getGlobalIdString

(

)

const

Getter for the global state identifier string.

It contains all parent states to the top of the statechart including remote states. Example: RobotControl->Functional->VisualServo

getId()

unsigned int getId

(

)

const

Returns an id to this state, that is guaranteed to be unique in this process.

getInitState()

StateBasePtr getInitState

(

)

const

Getter for the initial state. The initial state is automatically entered, when this state is entered.

Returns

Shared pointer to the initial state, NULL if not set.

See also

setInitState()

getInput() [1/3]

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.

This version is for complex variant types.

Exceptions

InvalidTypeException

Template Parameters

T	Type of the requested variant. The return type depends on this.

Parameters

key	of the parameter

Returns

Since the user must not be able to modify the inputparameters and constant IceSharedPointers are not possible, a copy of the requested Variant is returned.

getInput() [2/3]

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.

This version is for basic variant types like int, float, bool, string.

Exceptions

InvalidTypeException

Template Parameters

T	Type of the requested variant. The return type depends on this.

Parameters

key	of the parameter

Returns

Since the user must not be able to modify the inputparameters and constant IceSharedPointers are not possible, a copy of the requested Variant is returned.

getInput() [3/3]

VariantPtr getInput

(

const std::string &

key

)

const

getInput can be used to access a specific input parameter.

Exceptions

InvalidTypeException

Template Parameters

T	Type of the requested variant. The return type depends on this.

Parameters

key	of the parameter

Returns

Since the user must not be able to modify the inputparameters and constant IceSharedPointers are not possible, a copy of the requested Variant is returned.

getInputParameters()

StateParameterMap getInputParameters ( )

overridevirtual

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

These values are reset immediately after this state is left (onExit/onBreak was called)

Returns

new instance of the inputparameters-dictionary

Implements StateBase.

getLocal() [1/2]

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.

This version is for complex variant types.

Exceptions

InvalidTypeException

Template Parameters

T	Type of the requested variant. The return type depends on this.

Parameters

key	of the parameter

Returns

A pointer to the requested value

getLocal() [2/2]

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.

This version is for basic variant types like int, float, bool, string.

Exceptions

InvalidTypeException

Template Parameters

T	Type of the requested variant. The return type depends on this.

Parameters

key	of the parameter

Returns

A copy of the requested value.

getLocalContainer()

VariantContainerBasePtr getLocalContainer

(

std::string const &

key

)

getLocalParameters()

StateParameterMap & getLocalParameters

(

)

Getter for the local parameter map.

Returns

returns a reference to the local parameters map.

getOutput() [1/2]

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.

This version is for complex variant types.

Exceptions

InvalidTypeException

Template Parameters

T	Type of the requested variant. The return type depends on this.

Parameters

key	of the parameter

Returns

A pointer to the requested value

getOutput() [2/2]

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.

This version is for basic variant types like int, float, bool, string.

Exceptions

InvalidTypeException

Template Parameters

T	Type of the requested variant. The return type depends on this.

Parameters

key	of the parameter

Returns

A copy of the requested value.

getOutputParameters()

StateParameterMap & getOutputParameters ( )

overridevirtual

getter function to get the map of output parameters

Returns

returns the reference to this state's output parameters (the complete map)

See also

getOutput, setOutput, getInput, getInputParameters

Reimplemented from StateBase.

inheritInputFromSubstate()

void inheritInputFromSubstate

(

std::string

stateName

)

init()

bool init	(	StatechartContextInterface *	context,
		StatechartManager *	manager )

Function to initialize this state. Must be called in the highest level of the hierarchy - and only there.

Note

init() of substates is automatically called.

Parameters

context

pointer to a StatechartContext, that holds the objects to communicate with other components like observers, kinematic unit etc.

isInputParameterSet()

bool isInputParameterSet

(

const std::string &

key

)

const

Checks whether a given input parameter is set or not.

Parameters

key	Name of the input parameter

Returns

returns true if the given parameter is set.

isLocalParameterSet()

bool isLocalParameterSet

(

const std::string &

key

)

const

isOutputParameterSet()

bool isOutputParameterSet

(

const std::string &

key

)

const

isUnbreakable()

bool isUnbreakable

(

)

const

operator=()

State & operator= ( const State & source )

protected

operator[]()

StatePtr operator[]

(

std::string const &

stateName

)

Function to jump directly into a state. Should only be called for statemachine-debugging.

Parameters

stateName	Name of the target state
inputDictionary	Dictionary for the state specified by stateName. Content is copied to the inputDictionary of stateName.

setInitState()

StateBasePtr setInitState	(	StateBasePtr	initState,
		ParameterMappingPtr	initialStateMapping = ParameterMappingPtr() )

Sets the initial substate of this state.

This initial state is automatically entered, when the parent state is entered. On the implicit transition a parameter mapping from the parent's input and local parameters is done. The mapping can be specified with setInitialStateMapping()

Parameters

initState	The state that should be the initial state
initialStateMapping	A ParameterMapping that maps *this's input to the state's input in the first parameter(use mapFromParent()). This mapping is copied and then stored.

Note

Can only be called in defineSubstates() (exception otherwise).

setInput() [1/2]

void setInput	(	std::string const &	key,
		const Variant &	value )

setInput() sets an input parameter.

Parameters

key	of the parameter
value	of the parameter of any by the Variant supported type

setInput() [2/2]

void setInput	(	std::string const &	key,
		const VariantContainerBase &	valueList )

setInput() sets an input parameter list.

Parameters

key	of the parameter
value	of the parameter of any by the Variant supported type

setLocal() [1/2]

void setLocal	(	std::string const &	key,
		const Variant &	value )

setLocal() sets a local parameter.

Local means, that this parameter can be written and read in this state's onEnter(), onBreak(), onEnter() and only there.

Parameters

key	of the parameter
value	of the parameter of any by the Variant supported type

setLocal() [2/2]

void setLocal	(	std::string const &	key,
		const VariantContainerBase &	valueList )

setLocal() sets a local parameter list.

Local means, that this parameter can be written and read in this state's onEnter(), onBreak(), onEnter() and only there.

Parameters

key	of the parameter
value	of the parameter of any by the Variant supported type

setOutput() [1/2]

void setOutput	(	std::string const &	key,
		const Variant &	value )

setOuput() sets an output parameter of this state.

Can be called in onEnter(), onBreak(), onExit(). Following states can access this parameter.

Parameters

key	of the parameter
value	of the parameter of any by the Variant supported type

setOutput() [2/2]

void setOutput	(	std::string const &	key,
		const VariantContainerBase &	valueList )

setOuput() sets an output parameter LIST of this state.

Can be called in onEnter(), onBreak(), onExit(). Following states can access this parameter.

Parameters

key	of the parameter
value	of the parameter of any by the Variant supported type

setStateClassNameFromTypeName()

void setStateClassNameFromTypeName

(

const std::string &

typeName

)

setStateName()

void setStateName

(

const std::string &

newName

)

setUnbreakable()

void setUnbreakable

(

bool

setUnbreakable = true

)

With this function the state can be made unbreakable.

Unbreakable means that a parent state cannot be left, while this state is active.

Parameters

set	Set to true if the state should be made unbreakable

setUseRunFunction()

void setUseRunFunction

(

bool

useRunFuntion

)

setUseRunFunction can be used to configurate whether the thread with the async.

run-function should be started/used.

This should be set to false in time-critical states.

See also

StateBase::run(), _baseRun(), _startRun()

Parameters

useRunFuntion

Friends And Related Symbol Documentation

FinalStateBase

template<class EventType, class StateType>

friend class FinalStateBase

friend

RemoteStateOfferer

template<typename ContextType>

friend class RemoteStateOfferer

friend

RemoteStateWrapper

friend class RemoteStateWrapper

friend

StateTemplate

template<class StateType>

friend class StateTemplate

friend

---

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

• ArmarXCore/statechart/State.h
• ArmarXCore/statechart/State.cpp