StateMachineProcessor Class Reference
[Execution Engine]

#include <rtt/StateMachineProcessor.hpp>

Inheritance diagram for StateMachineProcessor:

List of all members.

---

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().

Definition at line 68 of file StateMachineProcessor.hpp.

Public Types
typedef StateMachine::Status	Status
	The status of a StateMachine.
Public Member Functions
	StateMachineProcessor ()
	Constructs a new StateMachineProcessor.
virtual	~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.
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

---

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.

Definition at line 143 of file StateMachineProcessor.cpp.

References ORO_THROW_OR_RETURN, and StateMachineProcessor::recursiveLoadStateMachine().

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.

Definition at line 198 of file StateMachineProcessor.cpp.

References ListLockFree::find_if(), StateMachine::getName(), ORO_THROW_OR_RETURN, StateMachineProcessor::recursiveCheckUnloadStateMachine(), StateMachineProcessor::recursiveUnloadStateMachine(), and StateMachineProcessor::states.

Referenced by StateMachineProcessor::clear(), and StateMachineProcessor::deleteStateMachine().

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

Definition at line 270 of file StateMachineProcessor.cpp.

References StateMachineProcessor::unloadStateMachine().

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.

Reimplemented in Timer.

Definition at line 60 of file RunnableInterface.cpp.

References RunnableInterface::step().

Referenced by SlaveActivity::execute(), SingleThread::loop(), and NonPeriodicActivity::loop().

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, ExecutionEngine, and Timer.

Definition at line 62 of file RunnableInterface.cpp.

Referenced by SingleThread::breakLoop(), NonPeriodicActivity::breakLoop(), and SlaveActivity::stop().

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.

Definition at line 69 of file RunnableInterface.cpp.

Referenced by Timer::initialize().

---

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

• rtt/StateMachineProcessor.hpp
• rtt/StateMachineProcessor.cpp

---