#include <ArmarXCore/statechart/xmlstates/XMLRemoteStateOfferer.h>

Inheritance diagram for XMLRemoteStateOfferer< ContextType >:

Public Member Functions
std::string	getStatechartGroupName () const

std::string	getStateOffererName () const override
	Implement this function to specify the RemoteStateOfferer prefix.

virtual void	onConnectXMLRemoteStateOfferer ()

virtual void	onExitXMLRemoteStateOfferer ()

virtual void	onInitXMLRemoteStateOfferer ()

void	setStatechartGroupName (const std::string &value)

	XMLRemoteStateOfferer (StatechartGroupXmlReaderPtr reader)

Public Member Functions inherited from RemoteStateOfferer< StatechartContext >
std::string	getDefaultName () const override
	Retrieve default name of component.

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

void	onExitStatechart () override
	onExitStatechart can be implemented by subclasses

void	onInitStatechart () override
	onInitStatechart this method is called when the statechart is started.

void	waitUntilComponentStarted () override

Public Member Functions inherited from RemoteStateOffererBase
RemoteStatePtr	addDynamicRemoteState (std::string instanceName) override
	Overridden so that the user cannot use it.

RemoteStatePtr	addRemoteState (std::string stateName, std::string proxyName, std::string instanceName) override
	Overridden so that the user cannot use it.

bool	breakActiveSubstateRemotely (int stateId, const EventBasePtr &evt, const ::Ice::Current &context=Ice::emptyCurrent) override

bool	breakRemoteState (int stateId, const EventBasePtr &evt, const ::Ice::Current &context=Ice::emptyCurrent) override

void	callRemoteState (int stateId, const StringVariantContainerBaseMap &properties, const Ice::Current &context=Ice::emptyCurrent) override

int	createRemoteStateInstance (const std::string &stateName, const RemoteStateIceBasePrx &remoteStatePrx, const std::string &parentStateItentifierStr, const std::string &instanceName, const Ice::Current &context=Ice::emptyCurrent) override

CreateRemoteStateInstanceOutput	createRemoteStateInstanceNew (CreateRemoteStateInstanceInput const &input, Ice::Current const &context) override

void	exitRemoteState (int stateId, const ::Ice::Current &context=Ice::emptyCurrent) override

StateIdNameMap	getAvailableStateInstances (const ::Ice::Current &context=Ice::emptyCurrent) override

Ice::StringSeq	getAvailableStates (const ::Ice::Current &context=Ice::emptyCurrent) override

std::map< int, StateBasePtr >	getChildStatesByName (int parentId, std::string stateName)

StateBasePtr	getGlobalInstancePtr (int globalId) const

RemoteStateData	getInstance (int stateId)

StateParameterMap	getRemoteInputParameters (const std::string &stateName, const ::Ice::Current &context=Ice::emptyCurrent) override

StateParameterMap	getRemoteInputParametersById (int stateId, const ::Ice::Current &context=Ice::emptyCurrent) override

StateParameterMap	getRemoteOutputParameters (const std::string &stateName, const ::Ice::Current &context=Ice::emptyCurrent) override

StateParameterMap	getRemoteOutputParametersById (int stateId, const ::Ice::Current &context=Ice::emptyCurrent) override

StateIceBasePtr	getStatechart (const std::string &stateName, const ::Ice::Current &context=Ice::emptyCurrent) override

StateIceBasePtr	getStatechartInstance (int stateId, const Ice::Current &=Ice::emptyCurrent) override

StateIceBasePtr	getStatechartInstanceByGlobalIdStr (const std::string &globalStateIdStr, const Ice::Current &=Ice::emptyCurrent) override

StateIceBasePtr	getStatechartInstanceByGlobalIdStrRecursive (const std::string &globalStateIdStr, StateBasePtr state, int &stateCounter)

bool	hasActiveSubstateRemote (int stateId, const ::Ice::Current &context=Ice::emptyCurrent) override

bool	hasSubstatesRemote (const std::string &stateName, const ::Ice::Current &context=Ice::emptyCurrent) const override

void	initState (State &state)

bool	isHostOfStateByGlobalIdStr (const std::string &globalStateIdStr, const Ice::Current &=Ice::emptyCurrent) override

bool	isRemoteStateFinished (int stateId, const ::Ice::Current &context=Ice::emptyCurrent) override

void	issueEvent (int receivingStateId, const EventBasePtr &evt, const Ice::Current &=Ice::emptyCurrent) override

void	issueEventWithGlobalIdStr (const std::string &globalStateIdStr, const EventBasePtr &evt, const Ice::Current &=Ice::emptyCurrent) override

void	notifyEventBufferedDueToUnbreakableStateRemote (int stateId, bool eventBuffered, const ::Ice::Current &context=Ice::emptyCurrent) override

void	onConnectStatechartImpl ()

void	onExitStatechartImpl ()

StateIceBasePtr	refetchRemoteSubstates (int stateId, const ::Ice::Current &context=Ice::emptyCurrent) override

void	removeInstance (int stateId, const Ice::Current &=Ice::emptyCurrent) override

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

void	updateGlobalStateIdRecursive (int stateId, const std::string &parentId, const Ice::Current &context=Ice::emptyCurrent) override

Public Member Functions inherited from 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.

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 ()

Public Member Functions inherited from StatechartContext
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

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

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.

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

	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.

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

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.

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.

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.

void	injectPropertyDefinitions (PropertyDefinitionsPtr &props) override

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

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.

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

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)

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

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

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

IceManagerPtr	getIceManager () const
	Returns the IceManager.

VariantBasePtr	getMetaInfo (const std::string &id)

StringVariantBaseMap	getMetaInfoMap () const

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

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

ArmarXObjectSchedulerPtr	getObjectScheduler () const

PeriodicTaskPtr	getPeriodicTask (const std::string &name)

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

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.

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`.

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

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).

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

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

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

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

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

	ManagedIceObject (ManagedIceObject const &other)

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

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.

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.

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

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

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

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

Public Member Functions inherited from PropertyUser
std::vector< std::string >	getComponentProxyNames ()

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

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

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

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.

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.

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 Member Functions inherited from AbstractFactoryMethod< XMLStateOffererFactoryBase, StatechartGroupXmlReaderPtr, XMLStateOffererFactoryBasePtr >
std::string	getClassName ()
	getClassName returns the name that this instance was generated with.

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...

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

Public Types inherited from AbstractFactoryMethod< XMLStateOffererFactoryBase, StatechartGroupXmlReaderPtr, XMLStateOffererFactoryBasePtr >
using	BaseFactory

using	ConstructorArg

typedef SharedPointerType(*	initialisationFunction) (StatechartGroupXmlReaderPtr)
	The function pointer type of subclass initialisation functions.

using	SharedPointerType

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

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.

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.

static std::string	GetObjectStateAsString (int state)

Static Public Member Functions inherited from AbstractFactoryMethod< XMLStateOffererFactoryBase, StatechartGroupXmlReaderPtr, XMLStateOffererFactoryBasePtr >
static SharedPointerType	createInstance (StatechartGroupXmlReaderPtr)
	Initialisation function which needs to be provided by every subclass.

static SharedPointerType	fromName (const std::string &name, StatechartGroupXmlReaderPtr params)
	Function which can be used to retrieve an object specified by string name.

static std::vector< std::string >	getAvailableClasses ()
	getAvailableClasses retrieves a list of all registered classes as their string-representation.

static std::string	getName ()
	Returns the class's name.

static void	registerClass (const std::string &name, initialisationFunction init)
	Statically called by subclasses to register their name and initialisation function so they can be found by `fromName`.

Public Attributes inherited from RemoteStateOffererBase
std::string	componentName

std::map< int, RemoteStateData >	stateInstanceList
	Holds the instances that where requested from remotely located states.

HiddenTimedMutex	stateInstanceListMutex

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

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

Public Attributes inherited from StatechartContext
ConditionHandlerInterfacePrx	conditionHandlerPrx

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

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

StatechartManagerPtr	statechartManager

SystemObserverInterfacePrx	systemObserverPrx

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

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

	State ()

	State (const State &source)

	~State () override

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

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

Protected Member Functions inherited from StatechartContext
virtual void	onConnectStatechartContext ()
	onConnectStatechartContext can be implemented by subclasses

virtual void	onInitStatechartContext ()
	onInitStatechartonInitStatechartContext can be implemented by subclasses

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.

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

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

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

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

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.

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.

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

void	terminate ()
	Initiates termination of this IceManagedObject.

	~ManagedIceObject () override

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Protected Attributes inherited from StatechartContext
bool	autoEnterToplevelState

std::string	reportingTopic

Profiler::ProfilerPtr	stateReporter

Detailed Description

template<typename ContextType = StatechartContext>
class armarx::XMLRemoteStateOfferer< ContextType >

Definition at line 51 of file XMLRemoteStateOfferer.h.

Constructor & Destructor Documentation

◆ XMLRemoteStateOfferer()

template<typename ContextType>

XMLRemoteStateOfferer ( StatechartGroupXmlReaderPtr reader )

Definition at line 100 of file XMLRemoteStateOfferer.h.

Here is the call graph for this function:

Member Function Documentation

◆ getStatechartGroupName()

template<typename ContextType>

std::string getStatechartGroupName ( ) const

Definition at line 289 of file XMLRemoteStateOfferer.h.

◆ getStateOffererName()

template<typename ContextType = StatechartContext>

std::string getStateOffererName ( ) const

inlineoverridevirtual

Implement this function to specify the RemoteStateOfferer prefix.

Note: Do not override getDefaultName()!

Implements RemoteStateOffererBase.

Definition at line 74 of file XMLRemoteStateOfferer.h.

◆ onConnectXMLRemoteStateOfferer()

template<typename ContextType = StatechartContext>

virtual void onConnectXMLRemoteStateOfferer ( )

inlinevirtual

Definition at line 64 of file XMLRemoteStateOfferer.h.

◆ onExitXMLRemoteStateOfferer()

template<typename ContextType = StatechartContext>

virtual void onExitXMLRemoteStateOfferer ( )

inlinevirtual

Definition at line 69 of file XMLRemoteStateOfferer.h.

◆ onInitXMLRemoteStateOfferer()

template<typename ContextType = StatechartContext>

virtual void onInitXMLRemoteStateOfferer ( )

inlinevirtual

Definition at line 59 of file XMLRemoteStateOfferer.h.

◆ setStatechartGroupName()

template<typename ContextType>

void setStatechartGroupName ( const std::string & value )

Definition at line 296 of file XMLRemoteStateOfferer.h.

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

ArmarXCore/statechart/xmlstates/XMLRemoteStateOfferer.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ XMLRemoteStateOfferer()

Member Function Documentation

◆ getStatechartGroupName()

◆ getStateOffererName()

◆ onConnectXMLRemoteStateOfferer()

◆ onExitXMLRemoteStateOfferer()

◆ onInitXMLRemoteStateOfferer()

◆ setStatechartGroupName()