StateFactory.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_control/fsm/State.h>
#include <mc_rtc/loader.h>
 
#include <unordered_map>
 
namespace mc_rtc
{
struct Configuration;
}
 
namespace mc_control
{
 
namespace fsm
{
 
struct MC_CONTROL_FSM_DLLAPI Controller;
 
struct MC_CONTROL_FSM_DLLAPI StateFactory : public mc_rtc::ObjectLoader<State>
{
  StateFactory(const std::vector<std::string> & paths, const std::vector<std::string> & files, bool verbose);
 
  void load_libraries(const std::vector<std::string> & paths);
 
  void load_files(const std::vector<std::string> & files);
 
  void load(const std::map<std::string, mc_rtc::Configuration> & states);
 
  void load(const std::string & name, const std::string & base, const mc_rtc::Configuration & config);
 
  StatePtr create(const std::string & state, Controller & ctl, const mc_rtc::Configuration & config);
 
  StatePtr create(const std::string & state, Controller & ctl);
 
  StatePtr create(const std::string & state, const mc_rtc::Configuration & config);
 
  StatePtr create(const std::string & state);
 
  bool hasState(const std::string & state) const;
 
  const std::vector<std::string> & states() const;
 
  bool load_with_loader(const std::string & state);
 
  template<typename RetT, typename... Args>
  void register_object(const std::string & name, std::function<RetT *(const Args &...)> callback)
  {
    mc_rtc::ObjectLoader<State>::register_object(name, callback);
    states_.push_back(name);
  }
 
  struct StateConfiguration
  {
    std::string base;
    std::string arg;
    mc_rtc::Configuration config;
  };
 
  inline const StateConfiguration & configuration(const std::string & state) const
  {
    return states_configurations_.at(state);
  }
 
private:
  StatePtr create(const std::string & state, const std::string & final_name);
 
  StatePtr create(const std::string & state,
                  Controller & ctl,
                  bool configure,
                  const mc_rtc::Configuration & config = {});
  void update(const std::string & cn);
 
private:
  std::vector<std::string> states_;
  std::unordered_map<std::string, StateConfiguration> states_configurations_;
};
 
} // namespace fsm
 
} // namespace mc_control