Parallel.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_control/fsm/State.h>
 
namespace mc_control
{
 
namespace fsm
{
 
struct MC_CONTROL_FSM_STATE_DLLAPI ParallelState : State
{
  void start(Controller &) override;
 
  bool run(Controller &) override;
 
  void stop(Controller &) override;
 
  void teardown(Controller &) override;
 
  bool read_msg(std::string & msg) override;
 
  bool read_write_msg(std::string & msg, std::string & out) override;
 
  std::vector<std::string> states() const;
 
  std::map<std::string, mc_rtc::Configuration> configs() const;
 
protected:
  double time_ = 0;
  struct DelayedState
  {
    DelayedState(Controller & ctl, const std::string & name, double delay, mc_rtc::Configuration config);
    bool run(Controller & ctl, double time);
    StatePtr & state();
 
    const std::string & name() { return name_; };
 
  private:
    StatePtr state_;
    std::string name_;
    mc_rtc::Configuration config_;
    double delay_;
    void createState(Controller & ctl);
  };
  std::vector<DelayedState> states_;
  std::vector<std::string> outputStates_;
  bool finished_first_ = false;
};
 
} // namespace fsm
 
} // namespace mc_control