Orocos Real-Time Toolkit
2.5.0
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A hierarchical StateMachine which is loaded in the Program Processor. More...
#include <rtt/scripting/StateMachine.hpp>
Classes | |
struct | Status |
Enumerates all possible state machine statuses. More... | |
Public Types | |
typedef std::vector < StateMachinePtr > | ChildList |
Public Member Functions | |
virtual | ~StateMachine () |
The destructor is virtual since ParsedStateMachine still inherits this class. | |
StateMachine (StateMachinePtr parent, const std::string &name="Default") | |
Create a new StateMachine with an optional parent. | |
void | trace (bool on_off) |
Turn log(Debug) messages on or off to track state transitions. | |
bool | requestState (const std::string &statename) |
Request a transition to a given state. | |
bool | inState (const std::string &state) const |
Check if the state machine is in a given state. | |
bool | inStrictState (const std::string &state) const |
Check if the state machine is in a given state and not in the entry or exit program. | |
const std::string & | getCurrentStateName () const |
Return name of current state, empty string if not active. | |
bool | isStrictlyActive () const |
Strictly active, means active and not in a transition. | |
bool | inInitialState () const |
Inspect if we are in the initial state. | |
bool | inFinalState () const |
Inspect if we are in the final state. | |
bool | stepDone () const |
When isPaused(), return true if no step is pending, when isReactive(), return isStrictlyActive() | |
bool | isActive () const |
Returns true if the state machine is activated. | |
bool | isStopped () const |
Returns true if the state machine is in the final state, after a stop() directive. | |
bool | inError () const |
Get the error status of this StateMachine. | |
bool | isReactive () const |
Query if the state machine is currently reacting only to events. | |
bool | isAutomatic () const |
Query if the state machine is reacting to events and evaluating transition conditions. | |
bool | isPaused () const |
Query if the state machine is paused. | |
bool | activate () |
Start this StateMachine. | |
bool | pause () |
Pause the state machine. | |
bool | step () |
Execute a single action if the state machine is paused or evaluate the transition conditions if the state machine is reactive. | |
bool | automatic () |
Enter automatic mode: evaluating the transition conditions continuously. | |
bool | start () |
Enter automatic mode: evaluating the transition conditions continuously. | |
bool | stop () |
Bring the state machine to the safe final state and wait for events or requests. | |
bool | reset () |
Reset the state machine from the final state to the initial state and wait for events or requests. | |
bool | reactive () |
Switch to reactive mode from automatic mode. | |
bool | deactivate () |
Stop this StateMachine. | |
bool | execute () |
Used by the StateMachineProcessor to execute the next action(s) or state transitions. | |
void | loading () |
Informs this object that it got loaded in an ExecutionEngine. | |
void | unloading () |
Informs this object that it got unloaded from an ExecutionEngine. | |
StateInterface * | requestNextState (bool stepping=false) |
Search from the current state a candidate next state. | |
StateInterface * | requestNextStateStep () |
Go stepwise through evaluations to find out next state. | |
bool | requestFinalState () |
Request going to the Final State. | |
bool | requestInitialState () |
Request going to the Initial State. | |
StateInterface * | nextState () |
Search from the current state a candidate next state. | |
std::vector< std::string > | getStateList () const |
Get a list of the names of all the present states. | |
StateInterface * | getState (const std::string &name) const |
Lookup a State by name. | |
Status::StateMachineStatus | getStatus () const |
Get the status of this state machine. | |
std::string | getStatusStr () const |
Get the status in a readable string format. | |
void | addState (StateInterface *s) |
Add a State. | |
bool | requestStateChange (StateInterface *s_n) |
Request a state transition to a new state. | |
bool | executePending (bool stepping=false) |
Execute any pending State (exit, entry, handle) programs. | |
void | preconditionSet (StateInterface *state, ConditionInterface *cnd, int line) |
Express a precondition for entering a state. | |
void | transitionSet (StateInterface *from, StateInterface *to, ConditionInterface *cnd, int priority, int line) |
Express a possible transition from one state to another under a certain condition. | |
void | transitionSet (StateInterface *from, StateInterface *to, ConditionInterface *cnd, boost::shared_ptr< ProgramInterface > transprog, int priority, int line) |
Express a possible transition from one state to another under a certain condition. | |
bool | createEventTransition (ServicePtr sp, const std::string &ename, std::vector< base::DataSourceBase::shared_ptr > args, StateInterface *from, StateInterface *to, ConditionInterface *guard, boost::shared_ptr< ProgramInterface > transprog, StateInterface *elseto=0, boost::shared_ptr< ProgramInterface > elseprog=boost::shared_ptr< ProgramInterface >()) |
Express a possible transition from one state to another when an Event is fired under a certain condition (guard). | |
void | setInitialState (StateInterface *s) |
Set the initial state of this StateMachine. | |
void | setFinalState (StateInterface *s) |
Set the final state of this StateMachine. | |
StateInterface * | currentState () const |
Retrieve the current state of the state machine. | |
ProgramInterface * | currentProgram () const |
Retrieve the current program in execution. | |
StateInterface * | getInitialState () const |
Retrieve the initial state of the state machine. | |
StateInterface * | getFinalState () const |
Retrieve the final state of the state machine. | |
void | setInitCommand (base::ActionInterface *c) |
This was added for extra (non-user visible) initialisation when the StateMachine is activated. | |
base::ActionInterface * | getInitCommand () const |
StateMachinePtr | getParent () const |
Get the parent, returns zero if no parent. | |
void | setParent (StateMachinePtr parent) |
const ChildList & | getChildren () const |
Get a list of all child state machines. | |
void | addChild (StateMachinePtr child) |
const std::string & | getName () const |
This method must be overloaded to get a useful hierarchy. | |
int | getLineNumber () const |
Returns the current program line in execution,. | |
virtual std::string | getText () const |
Return the text to which getLineNumber() refers. | |
bool | inTransition () const |
Inspect if the StateMachine is performing a state transition. | |
bool | interruptible () const |
Inspect if the StateMachine is interruptible by events. | |
void | loaded (ExecutionEngine *ee) |
Called by the ExecutionEngine ee to tell this object it is being loaded. | |
void | unloaded () |
Called by the ExecutionEngine ee to tell this object it is being unloaded. | |
bool | isLoaded () |
Returns true if this object is loaded in an ExecutionEngine. | |
ExecutionEngine * | getEngine () |
Returns the ExecutionEngine this object is loaded into or null otherwise. | |
Protected Types | |
typedef std::vector < boost::tuple < ConditionInterface *, StateInterface *, int, int, boost::shared_ptr < ProgramInterface > > > | TransList |
The key is the current state, the value is the transition condition to another state with a certain priority (int), on a line (int), with a transition program. | |
typedef std::map < StateInterface *, TransList > | TransitionMap |
typedef std::multimap < StateInterface *, std::pair < ConditionInterface *, int > > | PreConditionMap |
typedef std::vector < boost::tuple< ServicePtr, std::string, std::vector < base::DataSourceBase::shared_ptr > , StateInterface *, ConditionInterface *, boost::shared_ptr < ProgramInterface >, Handle, StateInterface *, boost::shared_ptr < ProgramInterface > > > | EventList |
typedef std::map < StateInterface *, EventList > | EventMap |
typedef boost::weak_ptr < StateMachine > | StateMachineParentPtr |
Protected Member Functions | |
void | changeState (StateInterface *s, ProgramInterface *tprog, bool stepping=false) |
void | leaveState (StateInterface *s) |
void | enterState (StateInterface *s) |
void | runState (StateInterface *s) |
void | handleState (StateInterface *s) |
bool | executeProgram (ProgramInterface *&cp, bool stepping) |
int | checkConditions (StateInterface *state, bool stepping=false) |
void | enableGlobalEvents () |
void | disableGlobalEvents () |
void | enableEvents (StateInterface *s) |
void | disableEvents (StateInterface *s) |
Protected Attributes | |
std::vector< StateMachinePtr > | _children |
StateMachineParentPtr | _parent |
std::string | _name |
Status::StateMachineStatus | smStatus |
TransitionMap | stateMap |
A map keeping track of all States and conditional transitions between two states. | |
PreConditionMap | precondMap |
A map keeping track of all preconditions of a state. | |
EventMap | eventMap |
A map keeping track of all events of a state. | |
ExecutionEngine * | engine |
A hierarchical StateMachine which is loaded in the Program Processor.
A StateMachine can have children and one parent.
Definition at line 72 of file StateMachine.hpp.
RTT::StateMachine::StateMachine | ( | StateMachinePtr | parent, |
const std::string & | name = "Default" |
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Create a new StateMachine with an optional parent.
Set parent to zero for the top state machine. The initial Status of a StateMachine is always inactive.
Definition at line 62 of file StateMachine.cpp.
References addState().
bool RTT::StateMachine::activate | ( | ) |
Start this StateMachine.
The Initial state will be entered.
Definition at line 1147 of file StateMachine.cpp.
References RTT::base::ActionInterface::execute(), executePending(), getInitialState(), inError(), RTT::base::ActionInterface::readArguments(), RTT::base::ActionInterface::reset(), and stateMap.
void RTT::StateMachine::addState | ( | StateInterface * | s | ) |
Add a State.
If already present, changes nothing.
Definition at line 762 of file StateMachine.cpp.
References stateMap.
Referenced by StateMachine().
bool RTT::StateMachine::createEventTransition | ( | ServicePtr | sp, |
const std::string & | ename, | ||
std::vector< base::DataSourceBase::shared_ptr > | args, | ||
StateInterface * | from, | ||
StateInterface * | to, | ||
ConditionInterface * | guard, | ||
boost::shared_ptr< ProgramInterface > | transprog, | ||
StateInterface * | elseto = 0 , |
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boost::shared_ptr< ProgramInterface > | elseprog = boost::shared_ptr<ProgramInterface>() |
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) |
Express a possible transition from one state to another when an Event is fired under a certain condition (guard).
ename | The name of the Event under which a transition should be made |
args | The arguments which the event handler must set upon occurence. |
from | The state which should be left |
to | The state which should be entered |
guard | The Condition under which the transition may succeed |
transprog | The program to be executed between exit of from and entry of to. |
sp | The Service in which ename can be found. |
Definition at line 507 of file StateMachine.cpp.
References eventMap, RTT::Logger::log(), RTT::Handle::ready(), and stateMap.
ProgramInterface * RTT::StateMachine::currentProgram | ( | ) | const |
Retrieve the current program in execution.
Returns null if the StateMachine is not active or no programs are being run.
Definition at line 910 of file StateMachine.cpp.
StateInterface * RTT::StateMachine::currentState | ( | ) | const |
Retrieve the current state of the state machine.
Returns null if the StateMachine is not active.
Definition at line 905 of file StateMachine.cpp.
Referenced by unloading().
bool RTT::StateMachine::deactivate | ( | ) |
Stop this StateMachine.
The current state is left unconditionally.
Definition at line 1197 of file StateMachine.cpp.
References executePending(), and RTT::scripting::ProgramInterface::inError().
bool RTT::StateMachine::executePending | ( | bool | stepping = false | ) |
Execute any pending State (exit, entry, handle) programs.
You must executePending, before calling requestState() or requestNextState(). You should only call requestState() or requestNextState() if executePending returns true.
Due to the pending requests, the currentState() may have changed.
stepping | provide true if the pending programs should be executed one step at a time. |
true | if nothing was pending |
false | if there was some program executing. |
Definition at line 983 of file StateMachine.cpp.
References RTT::scripting::StateInterface::getName(), inError(), and stateMap.
Referenced by activate(), deactivate(), and execute().
ExecutionEngine* RTT::base::ExecutableInterface::getEngine | ( | ) | [inline, inherited] |
Returns the ExecutionEngine this object is loaded into or null otherwise.
Definition at line 102 of file ExecutableInterface.hpp.
Referenced by loading(), and ~StateMachine().
int RTT::StateMachine::getLineNumber | ( | ) | const |
Returns the current program line in execution,.
Definition at line 848 of file StateMachine.cpp.
References RTT::scripting::StateInterface::getEntryPoint(), and RTT::scripting::ProgramInterface::getLineNumber().
Referenced by unloading().
StateInterface * RTT::StateMachine::getState | ( | const std::string & | name | ) | const |
Lookup a State by name.
Returns null if not found.
Definition at line 768 of file StateMachine.cpp.
References stateMap.
bool RTT::StateMachine::interruptible | ( | ) | const |
Inspect if the StateMachine is interruptible by events.
Only the run program may be interrupted, or if no program is currently executed.
Definition at line 1127 of file StateMachine.cpp.
Referenced by requestFinalState(), requestInitialState(), requestNextState(), and requestStateChange().
bool RTT::StateMachine::inTransition | ( | ) | const |
Inspect if the StateMachine is performing a state transition.
A transition is in progress if entry, transition or exit programs are executed.
Definition at line 1122 of file StateMachine.cpp.
Referenced by execute().
bool RTT::base::ExecutableInterface::isLoaded | ( | ) | [inline, inherited] |
Returns true if this object is loaded in an ExecutionEngine.
Definition at line 95 of file ExecutableInterface.hpp.
Referenced by RTT::scripting::FunctionGraph::pause(), RTT::ExecutionEngine::removeFunction(), RTT::scripting::FunctionGraph::start(), RTT::scripting::FunctionGraph::step(), and ~StateMachine().
void RTT::base::ExecutableInterface::loaded | ( | ExecutionEngine * | ee | ) | [inline, inherited] |
Called by the ExecutionEngine ee to tell this object it is being loaded.
The engine pointer is set first and the user's loading() function is called next.
ee | The pointer to the engine calling us. |
Definition at line 70 of file ExecutableInterface.hpp.
Referenced by RTT::ExecutionEngine::runFunction().
void RTT::StateMachine::loading | ( | ) | [virtual] |
Informs this object that it got loaded in an ExecutionEngine.
Called by load() after the engine pointer is set.
Reimplemented from RTT::base::ExecutableInterface.
Definition at line 81 of file StateMachine.cpp.
References eventMap, RTT::base::ExecutableInterface::getEngine(), and stateMap.
Search from the current state a candidate next state.
If none is found, the current state is returned.
Definition at line 726 of file StateMachine.cpp.
References stateMap.
void RTT::StateMachine::preconditionSet | ( | StateInterface * | state, |
ConditionInterface * | cnd, | ||
int | line | ||
) |
Express a precondition for entering a state.
The precondition will be chained (Logical AND) with any transition to this state. This means that any transition to this state will only succeed if all preconditions hold. If state is the initial state, the preconditions must be true to make actiate() succeed. If state is the final state, they will not be checked upon requestFinalState, since requestFinalState always succeeds.
state | The state for which the preconditions must hold |
cnd | The Pre-Condition under which a transition to this state may succeed |
line | The line number where this precondition was introduced. |
Definition at line 869 of file StateMachine.cpp.
References precondMap, and stateMap.
bool RTT::StateMachine::requestFinalState | ( | ) |
Request going to the Final State.
This will always proceed.
Definition at line 390 of file StateMachine.cpp.
References inError(), interruptible(), and requestStateChange().
Referenced by execute(), and unloading().
Request going to the Initial State.
This function will only proceed if the current state is the Final State or the Initial State. If it fails, one can try to requestNextState() which may lead to the initial state anyway if the transition is set. This path is not tried by this function.
Definition at line 375 of file StateMachine.cpp.
References interruptible(), and requestStateChange().
Referenced by execute().
StateInterface * RTT::StateMachine::requestNextState | ( | bool | stepping = false | ) |
Search from the current state a candidate next state.
If none is found, the current state is taken. Next, handle the resulting state.
stepping | provide true if the transition evaluations should be executed one at a time. |
Definition at line 610 of file StateMachine.cpp.
References interruptible(), and stateMap.
Referenced by execute().
Go stepwise through evaluations to find out next state.
bool RTT::StateMachine::requestStateChange | ( | StateInterface * | s_n | ) |
Request a state transition to a new state.
If the transition is not set by transitionSet(), acquiering the state will fail.
s_n | The state to change to |
true | if the transition is successfull |
false | if the transition is not allowed |
Definition at line 779 of file StateMachine.cpp.
References interruptible(), and stateMap.
Referenced by requestFinalState(), and requestInitialState().
void RTT::scripting::StateMachine::setInitCommand | ( | base::ActionInterface * | c | ) | [inline] |
This was added for extra (non-user visible) initialisation when the StateMachine is activated.
c | The command to execute upon each activate. c is aggregated by this state machine and deleted in the destructor. |
Definition at line 531 of file StateMachine.hpp.
void RTT::StateMachine::transitionSet | ( | StateInterface * | from, |
StateInterface * | to, | ||
ConditionInterface * | cnd, | ||
int | priority, | ||
int | line | ||
) |
Express a possible transition from one state to another under a certain condition.
from | The state which should be left |
to | The state which should be entered |
cnd | The Condition under which the transition may succeed |
priority | The priority of this transition; low number (like -1000) is low priority high number is high priority (like + 1000). Transitions of equal priority are traversed in an unspecified way. |
line | The line number where this transition was introduced. |
Definition at line 878 of file StateMachine.cpp.
void RTT::StateMachine::transitionSet | ( | StateInterface * | from, |
StateInterface * | to, | ||
ConditionInterface * | cnd, | ||
boost::shared_ptr< ProgramInterface > | transprog, | ||
int | priority, | ||
int | line | ||
) |
Express a possible transition from one state to another under a certain condition.
from | The state which should be left |
to | The state which should be entered |
cnd | The Condition under which the transition may succeed |
transprog | The program to be executed between exit of from and entry of to. May be null to indicate the empty program. |
priority | The priority of this transition; low number (like -1000) is low priority high number is high priority (like + 1000). Transitions of equal priority are traversed in an unspecified way. |
line | The line number where this transition was introduced. |
Definition at line 883 of file StateMachine.cpp.
References RTT::scripting::StateInterface::getName(), and stateMap.
void RTT::base::ExecutableInterface::unloaded | ( | ) | [inline, inherited] |
Called by the ExecutionEngine ee to tell this object it is being unloaded.
The user's loading() function is called first and the engine pointer is cleared next.
Definition at line 78 of file ExecutableInterface.hpp.
Referenced by RTT::ExecutionEngine::removeFunction().
void RTT::StateMachine::unloading | ( | ) | [virtual] |
Informs this object that it got unloaded from an ExecutionEngine.
Called by unload() before the engine pointer is cleared.
Reimplemented from RTT::base::ExecutableInterface.
Reimplemented in RTT::scripting::ParsedStateMachine.
Definition at line 105 of file StateMachine.cpp.
References currentState(), execute(), getFinalState(), getLineNumber(), RTT::scripting::StateInterface::getName(), getName(), isActive(), isAutomatic(), isReactive(), requestFinalState(), and stop().
EventMap RTT::scripting::StateMachine::eventMap [protected] |
A map keeping track of all events of a state.
Not all states need to be present as a key in this map.
Definition at line 618 of file StateMachine.hpp.
Referenced by createEventTransition(), and loading().
PreConditionMap RTT::scripting::StateMachine::precondMap [protected] |
A map keeping track of all preconditions of a state.
Not all states need to be present as a key in this map.
Definition at line 612 of file StateMachine.hpp.
Referenced by preconditionSet().
TransitionMap RTT::scripting::StateMachine::stateMap [protected] |
A map keeping track of all States and conditional transitions between two states.
Every state of this StateMachine must be] present as a key in this map.
Definition at line 606 of file StateMachine.hpp.
Referenced by activate(), addState(), createEventTransition(), executePending(), getState(), getStateList(), loading(), nextState(), preconditionSet(), requestNextState(), requestStateChange(), setFinalState(), setInitialState(), and transitionSet().