#include <ArmarXCore/statechart/StateUtil.h>

Inheritance diagram for StateUtility:

Classes
struct	ActionEventIdentifier
	Struct for the return value of setCounter/TimerEvent. More...

Public Member Functions
template<class EventClass >
EventPtr	createEvent ()
	Utility function to create a new Event. More...

EventPtr	createEvent (const std::string &eventName, const StringVariantContainerBaseMap &properties=StringVariantContainerBaseMap())
	Utility function to create a new Event. More...

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. More...

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. More...

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. More...

virtual unsigned int	__getUnbreakableBufferSize () const

virtual bool	__getUnbreakableBufferStati () const
	Before:Function to get the unbreakable-buffer status of all parent state - recursively. More...

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. More...

virtual void	__processEvent (const EventPtr event, bool buffered=false)
	Main function to control the statemachine/state. More...

virtual void	__substatesFinished (const EventPtr ev)
	Function that gets called, when a state enters a FinalSubstate. Virtual function, so that RemoteStateWrapper can override it. More...

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. More...

virtual void	_baseOnEnter ()
	Called by StateControllerprocessEvent()-function or parentstate. More...

virtual void	_baseOnExit ()
	Called by StateController::processEvent()-function or parentstate. Must NOT be called by user. More...

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). More...

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. More...

void	disableStateReporting (bool disable=true)
	Disables the reporting to profilers for this states during state visits. More...

void	enter (const StringVariantContainerBaseMap &tempInputParameters=StringVariantContainerBaseMap())
	Function to set the statemachine in the first state and call OnEnter(). More...

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. More...

bool	isRunningTaskStopped () const
	isRunningTaskStopped checks whether the RunningTask, that executes run() is requested to stop. More...

void	removeProfilerRecursive (Profiler::ProfilerPtr profiler, int recursiveLevels=0)

	StateController ()

	StateController (const StateController &source)

void	waitForRunningTaskToFinish () const
	Waits until the run-function has finished. More...

void	waitForStateToFinish (int timeoutMs=-1) const
	waitForStateToFinish waits until this thread has finished (i.e. More...

	~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. More...

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. More...

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. More...

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. More...

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. More...

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. More...

virtual void	defineParameters ()
	Virtual function, in which input/local/output parameters can be specified. More...

virtual void	defineState ()
	Virtual function, in which this state can be configured. More...

virtual void	defineSubstates ()
	Virtual function, in which substates, transition and mappings can be added. More...

StateBasePtr	findSubstateByName (const std::string &substateName)
	Utility function to find a substate of this state by the name. More...

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. More...

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

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 More...

StatePhase	getStatePhase () const

EventPtr	getTriggeredEndstateEvent () const
	This function returns the event that was triggered by entering an endstate. More...

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. More...

virtual bool	isInitialized () const
	Returns the status of this state. Only if a state is initialized, it can be used. More...

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. More...

virtual void	onEnter ()
	Virtual function, in which the behaviour of state is defined, when it is entered. Can be overridden, but it is optional. More...

virtual void	onExit ()
	Virtual function, in which the behaviour of state is defined, when it is exited. Can be overridden, but it is optional. More...

StateBase &	operator= (const StateBase &source)

virtual void	refetchSubstates ()
	This functions updates the substates. More...

void	reset ()
	Function to reset the state: clear name, clear substatesList, clear transition etc. More...

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

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>. More...

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. More...

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...

void	setTag (const LogTag &tag)

void	setTag (const std::string &tagName)

virtual	~Logging ()

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

template<class Eventclass >
ConditionIdentifier	installCondition (const Term &condition, const std::string &desc="")
	Utility function to install a condition on the distributed conditionhandler. More...

void	removeCondition (ConditionIdentifier conditionId)
	Utility function to remove an installed condition on the distributed conditionhandler. More...

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. More...

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. More...

Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

const LogSenderPtr &	getLogSender () const
	Retrieve log sender. More...

LogSenderPtr	loghelper (const char file, int line, const char function) const

Additional Inherited Members
Public Types inherited from StateController
using	transitionFunction = std::function< void(StateController *state, const StateIceBasePtr &nextState, const StateIceBasePtr &previousState)>

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

This class provides utility functions for statechart-implementing-users to communicate with other distributed components like observers. These functions should only be used in the onEnter(), onBreak() and onExit() functions.

Definition at line 46 of file StateUtil.h.

Member Function Documentation

◆ createEvent() [1/2]

EventPtr createEvent ( )

inline

Utility function to create a new Event.

Definition at line 63 of file StateUtil.h.

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◆ createEvent() [2/2]

EventPtr createEvent	(	const std::string &	eventName,
		const StringVariantContainerBaseMap &	properties = `StringVariantContainerBaseMap()`
	)

Utility function to create a new Event.

Definition at line 293 of file StateUtil.cpp.

◆ installCondition() [1/2]

ConditionIdentifier installCondition	(	const Term &	condition,
		const EventPtr	evt,
		const std::string &	desc = `""`
	)

protected

Utility function to install a condition on the distributed conditionhandler.

Parameters

condition	Smartpointer to the condition that should be installed on the conditionhandler
evt	The event that the statecharts wants to receive if the condition is fulfilled

Definition at line 102 of file StateUtil.cpp.

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◆ installCondition() [2/2]

ConditionIdentifier installCondition	(	const Term &	condition,
		const std::string &	desc = `""`
	)

inlineprotected

Utility function to install a condition on the distributed conditionhandler.

Parameters

condition	Smartpointer to the condition that should be installed on the conditionhandler
Eventclass	The eventtype that the statecharts wants to receive if the condition is fulfilled

Definition at line 88 of file StateUtil.h.

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◆ removeCondition()

void removeCondition ( ConditionIdentifier conditionId )

protected

Utility function to remove an installed condition on the distributed conditionhandler.

Parameters

conditionId The ConditionIdentifier that was returned from installCondition

Definition at line 148 of file StateUtil.cpp.

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◆ removeCounterEvent()

void removeCounterEvent ( const ActionEventIdentifier & id )

protected

Definition at line 257 of file StateUtil.cpp.

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◆ removeTimeoutEvent()

void removeTimeoutEvent ( const ActionEventIdentifier & id )

protected

Definition at line 203 of file StateUtil.cpp.

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◆ sendEvent() [1/2]

void sendEvent	(	const EventPtr	event,
		StateBasePtr	eventProcessor = `nullptr`
	)

protected

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.

Parameters

event	Event that is to be sent
eventProcessor	Pointer to the state, that should process this event. If set to NULL, the event it sent to the parent state. If you want to leave the current state with this event, set this parameter to NULL.

Definition at line 40 of file StateUtil.cpp.

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◆ sendEvent() [2/2]

void sendEvent ( StateBasePtr eventProcessor = nullptr )

inlineprotected

Definition at line 136 of file StateUtil.h.

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◆ setCounterEvent() [1/2]

StateUtility::ActionEventIdentifier setCounterEvent	(	int	counterThreshold,
		const EventPtr &	evt,
		int	initialValue = `0`
	)

protected

Definition at line 216 of file StateUtil.cpp.

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◆ setCounterEvent() [2/2]

ActionEventIdentifier setCounterEvent	(	int	counterThreshold,
		int	initialValue = `0`
	)

inlineprotected

Definition at line 117 of file StateUtil.h.

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◆ setTimeoutEvent() [1/2]

ActionEventIdentifier setTimeoutEvent ( int timeoutDurationMs )

inlineprotected

Definition at line 107 of file StateUtil.h.

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◆ setTimeoutEvent() [2/2]

StateUtility::ActionEventIdentifier setTimeoutEvent	(	int	timeoutDurationMs,
		const EventPtr &	evt
	)

protected

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.

Parameters

Eventclass	Eventtype that the state wants to receive
timeoutDurationMs	Duration until the event should be send back

Returns: Identifier for this timeoutevent to be able to remove/reset the condition/timer

Definition at line 162 of file StateUtil.cpp.

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

ArmarXCore/statechart/StateUtil.h
ArmarXCore/statechart/StateUtil.cpp

Classes

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ createEvent() [1/2]

◆ createEvent() [2/2]

◆ installCondition() [1/2]

◆ installCondition() [2/2]

◆ removeCondition()

◆ removeCounterEvent()

◆ removeTimeoutEvent()

◆ sendEvent() [1/2]

◆ sendEvent() [2/2]

◆ setCounterEvent() [1/2]

◆ setCounterEvent() [2/2]

◆ setTimeoutEvent() [1/2]

◆ setTimeoutEvent() [2/2]