StateMachineProcessor.hpp

/***************************************************************************
  tag: Peter Soetens  Thu Oct 10 16:19:04 CEST 2002  Processor.hpp

                        Processor.hpp -  description
                           -------------------
    begin                : Thu October 10 2002
    copyright            : (C) 2002 Peter Soetens
    email                : peter.soetens@mech.kuleuven.ac.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
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#ifndef ORO_STATE_MACHINE_PROCESSOR_HPP
#define ORO_STATE_MACHINE_PROCESSOR_HPP

#include "RunnableInterface.hpp"
#include "StateMachine.hpp"
#include "ProgramExceptions.hpp"

#include <map>
#include <string>
#include <vector>
#include "List.hpp"

#include "rtt-config.h"

namespace RTT
{
    class RTT_API StateMachineProcessor
        : public RunnableInterface
    {
    public:
        typedef StateMachine::Status Status;

        StateMachineProcessor();

        virtual ~StateMachineProcessor();

        bool loadStateMachine( StateMachinePtr sc );

        bool unloadStateMachine( const std::string& name );

        bool deleteStateMachine( const std::string& name );

        void clear();

        Status::StateMachineStatus getStateMachineStatus(const std::string& name) const;

        std::string getStateMachineStatusStr(const std::string& name) const;

        virtual bool initialize();
        virtual void step();
        virtual void finalize();

        std::vector<std::string> getStateMachineList() const;

        const StateMachinePtr getStateMachine(const std::string& name) const;

        StateMachinePtr getStateMachine(const std::string& name);

    protected:
        void recursiveLoadStateMachine( StateMachinePtr sc );
        bool recursiveCheckLoadStateMachine( StateMachinePtr sc );
        void recursiveUnloadStateMachine( StateMachinePtr sc );
        bool recursiveCheckUnloadStateMachine( StateMachinePtr si );

        typedef List<StateMachinePtr> StateMap;
        StateMap*   states;

    };

}

#endif