StateTemplate.h

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/*
* This file is part of ArmarX.
*
* Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* @package    ArmarX::
* @author     Mirko Waechter ( mirko.waechter at kit dot edu)
* @date       2014
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
#pragma once
 
#include <type_traits>
 
#include "State.h"
 
namespace armarx
{
 
    /**
    @class StateTemplate
    @ingroup StatechartGrp
    Template class from which all states with additional functionality like an overriden onEnter() function must be derived.
    */
    template <class StateType>
    class StateTemplate : virtual public State
    {
 
    protected:
        StateTemplate();
 
        ~StateTemplate() override
        {
        }
 
    public:
        // this typedef is for later checking if the inheritance is correct (e.g. in addState)
        using Type = StateType;
        /*!
        * @brief Creates a new state instance of the type of the template parameter.
        * @param The name the new state should have.
        * @return New state instance
        */
        static IceInternal::Handle<StateType> createInstance(std::string stateName = "");
 
        /*!
        * @brief Creates a copy of this state.
        *
        * All substates and parameters are cloned as well.
        * @return New state instance
        */
        StateBasePtr clone() const override;
 
        //        /*!
        //        * @brief Creates a copy of this state.
        //        * @return New state instance
        //        */
        //        StateBasePtr createEmptyCopy() const override;
    };
 
    ///////////////////////////////////////////////////////////////
    //////     Implementations of StateTemplate
    ///////////////////////////////////////////////////////////////
 
    template <class StateType>
    StateTemplate<StateType>::StateTemplate() : State()
    {
        static_assert(std::is_base_of_v<StateTemplate, StateType>,
                      "The template parameter of StateTemplate, must be a class that derives from "
                      "StateTemplate");
 
        // get the class name of this state
        std::string className = GetTypeString<StateType>();
 
        if (className.size() > 1)
        {
            className = className.substr(0, className.size() - 1);
        }
 
        setStateClassNameFromTypeName(className);
    }
 
    template <class StateType>
    IceInternal::Handle<StateType>
    StateTemplate<StateType>::createInstance(std::string stateName)
    {
        IceInternal::Handle<StateType> ptr = new StateType();
 
        if (stateName.empty())
        {
            if (ptr->stateClassName.empty())
            {
                throw LocalException(
                    "StateName and StateClassName are empty - cannot create state instance");
            }
 
            stateName = ptr->stateClassName;
        }
 
        ptr->setTag(stateName);
        ptr->stateName = stateName;
        return ptr;
    }
 
    template <class StateType>
    StateBasePtr
    StateTemplate<StateType>::clone() const
    {
        StatePtr result = new StateType(*dynamic_cast<const StateType*>(this));
        return result;
    }
 
} // namespace armarx