This class is the implementation of the Slice Definition of a state. More...

#include <ArmarXCore/statechart/StateBase.h>

Inheritance diagram for StateBase:

Classes
struct	eUnexpectedEvent

struct	Impl

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

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

virtual StateBasePtr	createEmptyCopy () const =0

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

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

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

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

virtual StateParameterMap &	getOutputParameters ()

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

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

const std::string &	getStateClassName () const

std::string	getStateName () const
	getStateName

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 ()

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

Public Attributes
std::unique_ptr< Impl >	impl

Additional Inherited Members
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 Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Detailed Description

This class is the implementation of the Slice Definition of a state.

It is the baseclass for most statechart related classes. Basic functionality like data member handling is implemented here.

Member Enumeration Documentation

◆ StatePhase

enum StatePhase

enum that specifies the phase in which the state is currently in used to control the usage of state-functions in the correct context

Enumerator
ePreDefined
eStatechartDefinitions
eSubstatesDefinitions
eParametersDefinitions
eDefined
eEntering
eEntered
eBreaking
eExiting
eExited

Constructor & Destructor Documentation

◆ StateBase() [1/2]

StateBase ( )

◆ StateBase() [2/2]

StateBase ( const StateBase & source )

◆ ~StateBase()

~StateBase ( )

override

Member Function Documentation

◆ __checkPhase() [1/2]

void __checkPhase	(	const std::vector< StatePhase > &	allowedTypes,
		const char *	functionName ) const

◆ __checkPhase() [2/2]

void __checkPhase	(	StateBase::StatePhase	allowedType,
		const char *	functionName ) const

Helper function for checking if a function was called in valid position of the statechart.

Exceptions

LocalException if allowedType does not match the current phase type

◆ __checkPhaseMin()

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

◆ __copyDefaultValuesToInput()

void __copyDefaultValuesToInput ( )

◆ __getSetInputAndLocalParameters()

StringVariantContainerBaseMap __getSetInputAndLocalParameters ( ) const

Combines both maps to one map and returns a new map of only the set parameters.

◆ __hasActiveSubstate()

bool __hasActiveSubstate ( )

virtual

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.

Reimplemented in RemoteState.

◆ __hasSubstates()

bool __hasSubstates ( )

virtual

Virtual function to indicate wheter a state has substates or not. To be overridden by RemoteState to deligate the call to the real state.

Reimplemented in RemoteState.

◆ __setParentState()

void __setParentState ( StateBase * parentState )

◆ __throwUnknownParameter()

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

◆ __updateGlobalStateId()

void __updateGlobalStateId ( )

◆ __updateGlobalStateIdRecursive()

void __updateGlobalStateIdRecursive ( )

virtual

Reimplemented in RemoteState.

◆ addParameter()

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

◆ addParameterContainer()

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

◆ clearSelfPointer()

void clearSelfPointer ( )

◆ clone()

virtual StateBasePtr clone ( ) const

pure virtual

Pure virtual function to clone of the derived class type.

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

◆ createEmptyCopy()

virtual StateBasePtr createEmptyCopy ( ) const

pure virtual

Implemented in DynamicRemoteState, RemoteState, RemoteStateWrapper, and State.

◆ deepCopy()

void deepCopy	(	const StateBase &	sourceState,
		bool	reset = true )

virtual

Function to copy the states with all it substates and transitions.

Creates new copies of all substates and copies them as well.

◆ defineParameters()

virtual void defineParameters ( )

inlinevirtual

Virtual function, in which input/local/output parameters can be specified.

Reimplemented in CounterStateTemplate< EventTypeConditionNotFulfilled, EventTypeConditionFulfilled >, CounterStateTemplate< EvCounterNotFulfilled, EvCounterFulfilled >, CounterStateTemplate< EvCounterNotFulfilled, EvCounterFulfilled >, DynamicRemoteState, FinalStateBase< EventType, StateType >, FinalStateBase< EvDummy, FinalState< EvDummy > >, Stateadd_x_to_y, Statechart_StatechartPerfomanceTest, Statechart_StateParameterExample, StatechartClient, StatechartInstallConditionExample, StateResult, StateRun, StateRun, and XMLState.

◆ defineState()

virtual void defineState ( )

inlinevirtual

Virtual function, in which this state can be configured.

Function gets automatically called in init();

Reimplemented in Statechart_Robot, Statechart_StatechartPerfomanceTest, Statechart_StateParameterExample, StatechartClient, StatechartInstallConditionExample, StateRun, and TimeoutExampleStatechart.

◆ defineSubstates()

virtual void defineSubstates ( )

inlinevirtual

Virtual function, in which substates, transition and mappings can be added.

Reimplemented in Stateadd_x_to_y, Statechart_Robot, Statechart_StatechartPerfomanceTest, Statechart_StateParameterExample, StatechartClient, StatechartInstallConditionExample, StateRobotControl, TimeoutExampleStatechart, and XMLState.

◆ findSubstateByName()

StateBasePtr findSubstateByName ( const std::string & substateName )

Utility function to find a substate of this state by the name.

If somehow multiple state with the same name exist, the first state is returned.

Parameters

substateName

Returns: Pointer to the requested state, or NULL if not found.

◆ GetActiveStateLeafs()

std::vector< StateBasePtr > GetActiveStateLeafs ( StateBasePtr toplevelState )

static

◆ getContext() [1/2]

template<typename ContextType>

ContextType * getContext ( ) const

inline

◆ getContext() [2/2]

StatechartContextInterface * getContext ( bool checkNULL = true ) const

◆ getGlobalHierarchyString()

std::string getGlobalHierarchyString ( ) const

◆ getInputParameters()

virtual StateParameterMap getInputParameters ( )

pure virtual

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

Implemented in RemoteState, and State.

◆ getLocalHierarchyString()

std::string getLocalHierarchyString ( ) const

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

◆ getLocalUniqueId()

Ice::Int getLocalUniqueId ( ) const

◆ getOutputParameters()

StateParameterMap & getOutputParameters ( )

virtual

Reimplemented in RemoteState, and State.

◆ getParameter()

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

◆ getParameterContainer()

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

◆ getStateClassName()

const std::string & getStateClassName ( ) const

◆ getStateName()

std::string getStateName ( ) const

getStateName

Returns

◆ getStatePhase()

StateBase::StatePhase getStatePhase ( ) const

◆ getTriggeredEndstateEvent()

EventPtr getTriggeredEndstateEvent ( ) const

This function returns the event that was triggered by entering an endstate.

This is useful in the onExit() function to determine which endstate of the substates was triggered.

Returns: Event that was triggered, NULL if no endstate was reached

◆ inheritInputParameters()

void inheritInputParameters ( )

◆ 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.

◆ isInitialized()

bool isInitialized ( ) const

virtual

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

Returns: Status of state.

Reimplemented in RemoteState.

◆ isParameterSet()

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

◆ onBreak()

void onBreak ( )

virtual

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.

See also: onExit()

Reimplemented in MoveJointsPosControl, MoveJointsPosVelControl, MoveJointsVelControl, CheckForceTorqueSensors, CheckObjectInHand, CheckTactileSensors, DetectCollision, StateRun, and LookBetweenHandAndObject.

◆ onEnter()

void onEnter ( )

virtual

Virtual function, in which the behaviour of state is defined, when it is entered.
Can be overridden, but it is optional.

Reimplemented in CounterStateTemplate< EventTypeConditionNotFulfilled, EventTypeConditionFulfilled >, CounterStateTemplate< EvCounterNotFulfilled, EvCounterFulfilled >, CounterStateTemplate< EvCounterNotFulfilled, EvCounterFulfilled >, FinalStateBase< EventType, StateType >, FinalStateBase< EvDummy, FinalState< EvDummy > >, CalcVelocities, CloseHandWithJointAngles, CloseHandWithTorques, ControlModeChooser, FindAndGraspObject, GraspingWithTorques, InstallTerminateConditions, LiftObject, LocalizeObject, MoveJointsPosControl, MoveJointsPosVelControl, MoveJointsVelControl, Preshape, SelectObject, ValidateTcpPose, VisualServo, VisualServoObject, VisualServoWrapper, WaitForUpdates, CheckForceTorqueSensors, CheckObjectInHand, CheckTactileSensors, DetectCollision, RobotPreInitialized, Stateadd_x_to_y, Statechart_StateParameterExample, StatechartInstallConditionExample, stateInstallCondition, stateInstallTimeout, StateResult, StateRobotControl, StateRun, StateRun, and LookBetweenHandAndObject.

◆ onExit()

void onExit ( )

virtual

Virtual function, in which the behaviour of state is defined, when it is exited. Can be overridden, but it is optional.

See also: onBreak()

Reimplemented in CounterStateTemplate< EventTypeConditionNotFulfilled, EventTypeConditionFulfilled >, CounterStateTemplate< EvCounterNotFulfilled, EvCounterFulfilled >, CounterStateTemplate< EvCounterNotFulfilled, EvCounterFulfilled >, CalcVelocities, CloseHandWithJointAngles, CloseHandWithTorques, FindAndGraspObject, GraspingWithTorques, InstallTerminateConditions, LiftObject, LocalizeObject, MoveJointsPosControl, MoveJointsPosVelControl, MoveJointsVelControl, Preshape, SelectObject, VisualServo, VisualServoObject, VisualServoWrapper, WaitForUpdates, CheckForceTorqueSensors, CheckObjectInHand, CheckTactileSensors, DetectCollision, stateInstallCondition, stateInstallTimeout, StateRun, StateRun, and LookBetweenHandAndObject.

◆ operator=()

StateBase & operator= ( const StateBase & source )

◆ refetchSubstates()

void refetchSubstates ( )

virtual

This functions updates the substates.

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

Reimplemented in RemoteState.

◆ reset()

void reset ( )

Function to reset the state: clear name, clear substatesList, clear transition etc.

◆ run()

void run ( )

virtual

Virtual function, that can be reimplemented to calculate complex operations.

It runs in it's own thread.

This function is called after onEnter(). This function can continue to run even if the state has been left (onExit() has been called), but all calculations will be discarded (Output- and Localparameters will be reseted).
Calls to external components will still be executed!
Calls to sendEvent() will be ignored, after the state has been left.

Note: Before re-entering this state, the state waits for this function from the last state-visit to complete. The implementation of run should constantly check, if StateController::isRunningTaskStopped() returns true and exit the run-function in that case.

Reimplemented in MoveJointsPosControl, MoveJointsPosVelControl, CheckForceTorqueSensors, CheckObjectInHand, CheckTactileSensors, DetectCollision, CalculateJointAngleConfiguration, and RemoteStateOffererBase.

◆ setContext()

void setContext ( StatechartContextInterface * context )

◆ setInitialized()

void setInitialized ( bool enable )

◆ setParameter()

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

◆ setParameterContainer() [1/2]

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

◆ setParameterContainer() [2/2]

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

◆ setStateClassName()

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>.

Parameters

className Stringrepresentation of the classname (e.g. StateBase for this class)

◆ setStatePhase()

void setStatePhase ( StateBase::StatePhase newPhase )

◆ waitForInitialization()

bool waitForInitialization ( int timeoutMS = -1 ) const

virtual

Reimplemented in RemoteState.

Member Data Documentation

◆ impl

std::unique_ptr<Impl> impl

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

ArmarXCore/statechart/StateBase.h
ArmarXCore/statechart/StateBase.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ StatePhase

Constructor & Destructor Documentation

◆ StateBase() [1/2]

◆ StateBase() [2/2]

◆ ~StateBase()

Member Function Documentation

◆ __checkPhase() [1/2]

◆ __checkPhase() [2/2]

◆ __checkPhaseMin()

◆ __copyDefaultValuesToInput()

◆ __getSetInputAndLocalParameters()

◆ __hasActiveSubstate()

◆ __hasSubstates()

◆ __setParentState()

◆ __throwUnknownParameter()

◆ __updateGlobalStateId()

◆ __updateGlobalStateIdRecursive()

◆ addParameter()

◆ addParameterContainer()

◆ clearSelfPointer()

◆ clone()

◆ createEmptyCopy()

◆ deepCopy()

◆ defineParameters()

◆ defineState()

◆ defineSubstates()

◆ findSubstateByName()

◆ GetActiveStateLeafs()

◆ getContext() [1/2]

◆ getContext() [2/2]

◆ getGlobalHierarchyString()

◆ getInputParameters()

◆ getLocalHierarchyString()

◆ getLocalUniqueId()

◆ getOutputParameters()

◆ getParameter()

◆ getParameterContainer()

◆ getStateClassName()

◆ getStateName()

◆ getStatePhase()

◆ getTriggeredEndstateEvent()

◆ inheritInputParameters()

◆ init()

◆ isInitialized()

◆ isParameterSet()

◆ onBreak()

◆ onEnter()

◆ onExit()

◆ operator=()

◆ refetchSubstates()

◆ reset()

◆ run()

◆ setContext()

◆ setInitialized()

◆ setParameter()

◆ setParameterContainer() [1/2]

◆ setParameterContainer() [2/2]

◆ setStateClassName()

◆ setStatePhase()

◆ waitForInitialization()

Member Data Documentation

◆ impl