PythonState.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_DLLAPI PythonState : public State
{
  void configure(const mc_rtc::Configuration & config) override;
 
  void start(Controller & ctl) override;
 
  bool run(Controller & ctl) override;
 
  void teardown(Controller & ctl) override;
 
  void stop(Controller & ctl) override;
 
  std::function<void(const mc_rtc::Configuration &)> configure_ = [](const mc_rtc::Configuration &) {};
  std::function<void(Controller &)> start_ = [](Controller &) {};
  std::function<bool(Controller &)> run_ = [](Controller &) { return false; };
  std::function<void(Controller &)> teardown_ = [](Controller &) {};
  std::function<void(Controller &)> stop_ = [](Controller &) {};
  std::function<bool()> handle_python_error;
 
  using State::output;
 
private:
  void update_python_failed();
 
  bool python_failed_ = false;
};
 
} // namespace fsm
 
} // namespace mc_control