StateMachineProcessor Class Reference
[Execution Engine]

#include </home/sspr/src/www/orocos-1.0/export/build/orocos-rtt-1.2.2/build/rtt/StateMachineProcessor.hpp>

Inheritance diagram for StateMachineProcessor:

List of all members.

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Detailed Description

This class implements a real-time state machine executor.

Changing the State Machine Processing Policy

The default policy of the StateMachineProcessor is to call StateMachine::execute() of all loaded state machines in each step(). The parent state machines are executed before the children.

If you want to change this policy, subclass the StateMachineProcessor and override the virtual functions, such as step().

Public Types
typedef StateMachine::Status	Status
	The status of a StateMachine.
Public Member Functions
	StateMachineProcessor ()
	Constructs a new StateMachineProcessor.
bool	loadStateMachine (StateMachinePtr sc)
	Load a new State Machine and all its children.
bool	unloadStateMachine (const std::string &name)
	Unload a deactivated State Machine and all its children.
bool	deleteStateMachine (const std::string &name)
	Delete a deactivated State Machine and all its children.
void	clear ()
	Stop and unload all programs from the StateMachineProcessor.
Status::StateMachineStatus	getStateMachineStatus (const std::string &name) const
	Return the status of a StateMachine.
std::string	getStateMachineStatusStr (const std::string &name) const
	Return the status of a StateMachine as a human readable string.
virtual bool	initialize ()
	The method that will be called before the first periodical execution of step() ( or non periodical execution of loop() ), when the thread is started.
virtual void	step ()
	The method that will be periodically executed when this class is run in a periodic thread.
virtual void	finalize ()
	The method that will be called after the last periodical execution of step() ( or non periodical execution of loop() ), when the RunnableInterface is stopped.
std::vector< std::string >	getStateMachineList () const
	Get a list of all loaded StateMachines and their children.
const StateMachinePtr	getStateMachine (const std::string &name) const
	Get a pointer to a loaded StateMachine.
StateMachinePtr	getStateMachine (const std::string &name)
	Get a pointer to a loaded StateMachine.
ActivityInterface *	getActivity () const
	Query for the task this interface is run in.
virtual void	setActivity (ActivityInterface *task)
	Set the task this interface is run in.
virtual void	loop ()
	The method that will be executed once when this class is run in a non periodic thread.
virtual bool	breakLoop ()
	This method is called by the framework to break out of the loop() method.
ThreadInterface *	getThread () const
	Get the thread this object is run in.
virtual void	setThread (ThreadInterface *t)
	Set the thread this object will be run in.
Protected Types
typedef ListLockFree< StateMachinePtr >	StateMap
Protected Member Functions
void	recursiveLoadStateMachine (StateMachinePtr sc)
bool	recursiveCheckLoadStateMachine (StateMachinePtr sc)
void	recursiveUnloadStateMachine (StateMachinePtr sc)
bool	recursiveCheckUnloadStateMachine (StateMachinePtr si)
Protected Attributes
StateMap *	states

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Member Function Documentation

bool loadStateMachine

(

StateMachinePtr

sc

)

Load a new State Machine and all its children.

Exceptions:

program_load_exception

if a state machine with the same name already exists.

bool unloadStateMachine

(

const std::string &

name

)

Unload a deactivated State Machine and all its children.

Exceptions:

program_unload_exception

if the state machine or one of its children is still active.

bool deleteStateMachine

(

const std::string &

name

)

Delete a deactivated State Machine and all its children.

Exceptions:

program_unload_exception

if the state machine or one of its children is still active.

Deprecated:

by unloadStateMachine

ActivityInterface * getActivity

(

)

const [inline, inherited]

Query for the task this interface is run in.

Zero denotes that no task is present to run it, and hence no detailed information is available.

Returns:

The Activity which runs this RunnableInterface.

virtual void setActivity

(

ActivityInterface *

task

)

[virtual, inherited]

Set the task this interface is run in.

A Zero means no task is running it.

Parameters:

task

The ActivityInterface running this interface.

Reimplemented in ExecutionEngine.

virtual void loop

(

)

[virtual, inherited]

The method that will be executed once when this class is run in a non periodic thread.

The default implementation calls step() once.

virtual bool breakLoop

(

)

[virtual, inherited]

This method is called by the framework to break out of the loop() method.

Reimplement this method to signal loop() to return and return true on success. When this method is not reimplemented by you, it will always return false, denoting that the loop can not be broken. If breakLoop() returns true, the caller will wait until loop() returns.

Returns:

true if the loop could be notified to return.

Reimplemented in EventProcessor, and ExecutionEngine.

ThreadInterface* getThread

(

)

const [inherited]

Get the thread this object is run in.

Returns:

a pointer to the thread or 0 if not run by a thread.

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

• rtt/StateMachineProcessor.hpp

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