Base class for a state machine implementation. More...

#include <StateMachineImp.h>

Inheritance diagram for StateMachineImp:

Collaboration diagram for StateMachineImp:

Public Types
enum	DefaultStates_t { kSM_KeepState = -42, kSM_NotAvailable = -2, kSM_NotReady = -1, kSM_Ready = 0, kSM_UserMode = 1, kSM_Error = 0x100, kSM_FatalError = 0xffff }

Public Types inherited from MessageImp
enum	Severity { kMessage = 10, kInfo = 20, kWarn = 30, kError = 40, kAlarm = 45, kFatal = 50, kComment = 90, kDebug = 99 }
	Severity of a message. More...

Public Member Functions
	StateMachineImp (std::ostream &out=std::cout, const std::string &name="")

	~StateMachineImp ()
	delete all object stored in fListOfEvent and in fEventQueue More...

std::function< int(const EventImp &)>	Wrap (const std::function< int(const EventImp &)> &func)

const std::string &	GetName () const

EventImp &	Subscribe (const std::string &name)

void	Unsubscribe (EventImp *evt)

int	GetCurrentState () const
	return the current state of the machine More...

void	SetReady ()

void	SetNotReady ()

virtual int	Run (bool dummy)
	Start the mainloop. More...

int	Run ()

virtual void	Stop (int code=0)
	Request to stop the mainloop. More...

bool	IsRunning () const
	Used to check if the main loop is already running or still running. More...

void	EnableBuffer (bool b=true)
	Used to enable or disable buffering of events outside of the main loop. More...

bool	PostEvent (std::ostream &lout, const std::string &str)
	Post an event to the event queue. More...

bool	PostEvent (const std::string &evt)

bool	PostEvent (const EventImp &evt)

bool	PostEvent (const EventImp &evt, const char *ptr, size_t siz)

bool	HasEvent (const EventImp *cmd)

EventImp *	FindEvent (const std::string &evt)

bool	IsQueueEmpty () const

const std::vector< std::string >	GetEventNames ()

void	PrintListOfEvents (std::ostream &out, const std::string &evt="")

void	PrintListOfEvents (const std::string &str="")

void	PrintListOfAllowedEvents (std::ostream &out)

void	PrintListOfAllowedEvents ()

void	PrintListOfStates (std::ostream &out) const

void	PrintListOfStates () const
	Print a list of all states with descriptions. More...

int	GetStateIndex (const std::string &name) const

bool	HasState (int index) const

const std::string	GetStateName (int state) const

const std::string	GetStateName () const

const std::string	GetStateDesc (int state) const

const std::string	GetStateDesc () const

const std::string	GetStateDescription (int state) const

const std::string	GetStateDescription () const

Public Member Functions inherited from MainImp
virtual	~MainImp ()

Public Member Functions inherited from MessageImp
	MessageImp (std::ostream &out=std::cout)

virtual	~MessageImp ()

virtual void	IndicateStateChange (const Time &, const std::string &)

void	StateChanged (const Time &time, const std::string &server, const std::string &msg, int state)

virtual int	Write (const Time &time, const std::string &txt, int qos=kMessage)

int	Update (const std::string &txt, int severity=kMessage)

int	Update (const char *txt, int severity=kMessage)

int	Update (const std::ostringstream &str, int severity=kMessage)

int	Debug (const std::string &str)

int	Message (const std::string &str)

int	Info (const std::string &str)

int	Warn (const std::string &str)

int	Error (const std::string &str)

int	Alarm (const std::string &str)

int	Fatal (const std::string &str)

int	Comment (const std::string &str)

int	Debug (const char *txt)

int	Message (const char *txt)

int	Info (const char *txt)

int	Warn (const char *txt)

int	Error (const char *txt)

int	Alarm (const char *txt)

int	Fatal (const char *txt)

int	Comment (const char *txt)

int	Debug (const std::ostringstream &str)

int	Message (const std::ostringstream &str)

int	Info (const std::ostringstream &str)

int	Warn (const std::ostringstream &str)

int	Alarm (const std::ostringstream &str)

int	Error (const std::ostringstream &str)

int	Fatal (const std::ostringstream &str)

int	Comment (const std::ostringstream &str)

std::ostream &	operator() () const

std::ostream &	Out () const

virtual bool	MessageQueueEmpty () const

Protected Member Functions
virtual void	PushEvent (Event *cmd)
	This is a flag which is set true if the main loop should stop. More...

std::shared_ptr< Event >	PopEvent ()
	Pop a command from the fifo. More...

bool	HandleNewState (int newstate, const EventImp evt, const char txt)

virtual int	Execute ()
	Is called continously to execute actions in the current state. More...

bool	HandleEvent (const EventImp &evt)

virtual std::string	SetCurrentState (int state, const char *txt="", const std::string &cmd="")

EventImp &	AddEvent (const std::string &name, const std::string &states, const std::string &fmt)

EventImp &	AddEvent (const std::string &name, int s1=-1, int s2=-1, int s3=-1, int s4=-1, int s5=-1)

EventImp &	AddEvent (const std::string &name, const std::string &fmt, int s1=-1, int s2=-1, int s3=-1, int s4=-1, int s5=-1)

virtual bool	AddStateName (const int state, const std::string &name, const std::string &doc="")

void	SetDefaultStateNames ()

Protected Attributes
StateNames	fStateNames
	Human readable names associated with the states. More...

bool	fRunning
	Flag if events should be buffered outside the event loop. More...

int	fExitRequested
	Machine is in main-loop. More...

Private Types
typedef std::map< const int, std::pair< std::string, std::string > >	StateNames
	Current state of the state machine. More...

Private Member Functions
virtual EventImp *	CreateEvent (const std::string &name, const std::string &fmt)=0
	Is called when a configuration event is to be processed (no transition of state) More...

virtual EventImp *	CreateService (const std::string &)

virtual void	Lock ()

virtual void	UnLock ()

int	Wrapper (const std::function< int(const EventImp &)> &f, const EventImp &imp)

Private Attributes
std::string	fName

int	fCurrentState
	Name of the state-machine / server (e.g. DRIVE) More...

std::vector< EventImp * >	fListOfEvents

std::list< std::shared_ptr< Event > >	fEventQueue
	List of available commands as setup by user. More...

std::mutex	fMutex
	Event queue (fifo) for the received commands. More...

std::mutex	fMutexEvt
	Mutex to ensure thread-safe access to the command fifo. More...

std::condition_variable	fCond
	Mutex to ensure thread-safe access to the command fifo. More...

bool	fBufferEvents
	Conditional to signal run the an event is waiting. More...

Detailed Description

Base class for a state machine implementation.

Red box: Internal states. Events which are received are discarded.
Black box: State machine running. Events are accepted and processed according to the implemented functions Transition(), Configuration() and Execute(). Events are accepted accoding to the lookup table of allowed transitions.
Red solid arrow: A transition initiated by the program itself.
Dashed arrows in general: Transitions which can be initiated by a dim-command or get inistiated by the program.
Solid arrows in general: These transitions are always initiated by the program.
Red dashed: Suggested RESET event (should be implemented by the derived class)
Black dashed arrow: Exit from the main loop. This can either happen by the Dim-provided EXIT-command or a call to StateMachineDim::Stop.
Black arrows: Other events or transitions which can be implemented by the derived class.
Dotted black arrow: Exit from the main-loop which is initiated by the program itself through StateMachineDim::Stop() and not by the state machine itself (Execute(), Configure() and Transition())
Blue dashed arrows: Transitions which happen either by receiving a event or are initiated from the state machine itself (by return values of (Execute(), Configure() and Transition())
Blue solid: Transitions which cannot be initiated by dim event but only by the state machine itself.
From the program point of view the fatal error is identical with the kSM_Configuring state, i.e. it is returned from the main-loop. Usually this will result in program termination. However, depending on the state the program might decide to use different cleaning routines.

Todo:

A proper and correct cleanup after an EXIT or Stop() is missing. maybe we have to force a state 0 first?

Definition at line 17 of file StateMachineImp.h.

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

src/StateMachineImp.h
src/StateMachineImp.cc

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Private Member Functions

Private Attributes

Detailed Description