#include <rtctk/componentFramework/stateMachineEngine.hpp>

Public Member Functions
	StateMachineEngine ()

	~StateMachineEngine ()

void	RegisterExitEvent (rad::UniqueEvent exit_event)
	Register an exit event.

void	RegisterModel (const std::string &name, const std::string &model)
	Register a new state machine model.

void	AppendModel (const std::string &name, const std::string &model)
	Append state machine model fragment.

void	RegisterAction (const std::string &id, ActionMethod action)
	Register action.

template<class Event >
void	RegisterActionStatic (const std::string &id, std::function< void(const Event &)> action)
	Register action for statically known event type.

void	RegisterGuard (const std::string &id, GuardMethod guard)
	Register guard.

template<class Event >
void	RegisterGuardStatic (const std::string &id, std::function< bool(const Event &)> guard)
	Register guard for statically known event type.

void	RegisterActivity (const std::string &id, ActivityMethod activity, SuccessMethod on_success, FailureMethod on_failure)
	Register activity.

void	RegisterRejectHandler (const std::string &id, RejectMethod reject)
	Register reject handler.

template<typename T , typename Ex >
void	RegisterRejectHandler ()
	Register default reject handler.

void	RegisterStateChangeHandler (StateMethod on_statechange)
	Register state changed handler.

void	PostEvent (rad::SharedEvent s)
	Injects a new event into the state machine engine.

std::string	GetState ()
	Queries the current state.

void	Work ()
	Runs the event loop of the state machine.

void	Stop ()
	Stops execution of the state machine event loop.

Constructor & Destructor Documentation

◆ StateMachineEngine()

rtctk::componentFramework::StateMachineEngine::StateMachineEngine ( )

◆ ~StateMachineEngine()

rtctk::componentFramework::StateMachineEngine::~StateMachineEngine ( )

Member Function Documentation

◆ AppendModel()

void rtctk::componentFramework::StateMachineEngine::AppendModel	(	const std::string &	name,
		const std::string &	model )

Append state machine model fragment.

Appends a state machine model fragment to the current model. The fragment must be a well-formed SCXML model. The fragment will be superimposed and merged with the existing model.

Parameters

name	Name of the model.
model	SCXML model as a string.

◆ GetState()

std::string rtctk::componentFramework::StateMachineEngine::GetState ( )

Queries the current state.

Returns: the current state as a string.

◆ PostEvent()

void rtctk::componentFramework::StateMachineEngine::PostEvent ( rad::SharedEvent s )

Injects a new event into the state machine engine.

Parameters

s	Event to be injected.

◆ RegisterAction()

void rtctk::componentFramework::StateMachineEngine::RegisterAction	(	const std::string &	id,
		ActionMethod	action )

Register action.

Usually the provided action method is not supposed to throw, in case it does throw all exceptions will be caught and logged.

Parameters

id	SCXML guard id.
action	Action handler.

◆ RegisterActionStatic()

template<class Event >

void rtctk::componentFramework::StateMachineEngine::RegisterActionStatic	(	const std::string &	id,
		std::function< void(const Event &)>	action )

inline

Register action for statically known event type.

Precondition: action must be valid.

Template Parameters

Event event type.

Parameters

id	SCXML action id.
action	Action handler.

◆ RegisterActivity()

void rtctk::componentFramework::StateMachineEngine::RegisterActivity	(	const std::string &	id,
		ActivityMethod	activity,
		SuccessMethod	on_success,
		FailureMethod	on_failure )

Register activity.

Registers a state machine activity that is executed in a dedicated thread. When the activity terminates gracefully the success handler will be executed, this allows to add subsequent behaviour (e.g. posting a Done event). In case the activity throws an exception the exception is caught, logged and the failure handler is invoked, this allows the addition of behavour after errors (e.g. posting a Error event).

Parameters

id	SCXML activity id.
activity	Activity handler.
on_success	Success handler.
on_failure	Failure handler.

◆ RegisterExitEvent()

void rtctk::componentFramework::StateMachineEngine::RegisterExitEvent ( rad::UniqueEvent exit_event )

Register an exit event.

Registers an exit event that is used to terminate the state machine engine when signals SIGINT, SIGTERM or SIGHUP are received.

Parameters

exit_event rad event wrapped in unique_ptr.

◆ RegisterGuard()

void rtctk::componentFramework::StateMachineEngine::RegisterGuard	(	const std::string &	id,
		GuardMethod	guard )

Register guard.

Usually the provided guard method is not supposed to throw, in case it does throw all exceptions will be caught and logged. A guard that throws is automatically blocked so that the destination state is not reached. This is equivalent to returning false in the guard method.

Parameters

id	SCXML guard id.
guard	Guard handler.

◆ RegisterGuardStatic()

template<class Event >

void rtctk::componentFramework::StateMachineEngine::RegisterGuardStatic	(	const std::string &	id,
		std::function< bool(const Event &)>	guard )

inline

Register guard for statically known event type.

Precondition: guard must be valid.

Template Parameters

Event event type.

Parameters

id	SCXML guard id.
guard	Guard handler.

◆ RegisterModel()

void rtctk::componentFramework::StateMachineEngine::RegisterModel	(	const std::string &	name,
		const std::string &	model )

Register a new state machine model.

Registers a SCXML state machine model to the engine.

Parameters

name	Name of the model.
model	SCXML model as a string.

◆ RegisterRejectHandler() [1/2]

template<typename T , typename Ex >

void rtctk::componentFramework::StateMachineEngine::RegisterRejectHandler ( )

inline

Register default reject handler.

Provides a default implementation for reject handlers that responds with with a message that the event was rejected. The default was provided to allow for uniform solutions and little typing.

◆ RegisterRejectHandler() [2/2]

void rtctk::componentFramework::StateMachineEngine::RegisterRejectHandler	(	const std::string &	id,
		RejectMethod	reject )

Register reject handler.

Reject handlers can be registered for individual event types and they are called when events are not accepted by the state machine in certain states or when guards evaluate to false.

Parameters

id	Event id.
reject	Reject handler.

◆ RegisterStateChangeHandler()

void rtctk::componentFramework::StateMachineEngine::RegisterStateChangeHandler ( StateMethod on_statechange )

Register state changed handler.

The provided method on_statechange will be called every time the state machine changes its state. It will include the actual state the state machine is in now.

Parameters

on_statechange State change handler.

◆ Stop()

void rtctk::componentFramework::StateMachineEngine::Stop ( )

Stops execution of the state machine event loop.

◆ Work()

void rtctk::componentFramework::StateMachineEngine::Work ( )

Runs the event loop of the state machine.

Does not return until the state machine is stopped.

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

componentFramework/rtcComponent/lib/src/include/rtctk/componentFramework/stateMachineEngine.hpp
componentFramework/rtcComponent/lib/src/stateMachineEngine.cpp

Public Member Functions

Constructor & Destructor Documentation

◆ StateMachineEngine()

◆ ~StateMachineEngine()

Member Function Documentation

◆ AppendModel()

◆ GetState()

◆ PostEvent()

◆ RegisterAction()

◆ RegisterActionStatic()

◆ RegisterActivity()

◆ RegisterExitEvent()

◆ RegisterGuard()

◆ RegisterGuardStatic()

◆ RegisterModel()

◆ RegisterRejectHandler() [1/2]

◆ RegisterRejectHandler() [2/2]

◆ RegisterStateChangeHandler()

◆ Stop()

◆ Work()