mc_control::fsm::Executor Class Reference

#include <mc_control/fsm/Executor.h>

Public Member Functions
	Executor ()=default
	Executor (const Executor &)=delete
	Executor (Executor &&)=delete
Executor &	operator= (const Executor &)=delete
Executor &	operator= (Executor &&)=delete
void	init (Controller &ctl, const mc_rtc::Configuration &config, const std::string &name="", const std::vector< std::string > &category={})
bool	run (Controller &ctl, bool keep_state)
void	stop (Controller &ctl)
void	teardown (Controller &ctl)
void	interrupt ()
bool	running () const
bool	ready () const
bool	complete () const
bool	resume (const std::string &state)
bool	next ()
const std::string &	state () const
const std::string &	output () const
const std::string &	next_state () const
bool	read_msg (std::string &msg)
bool	read_write_msg (std::string &msg, std::string &out)

Detailed Description

of executing an FSM

The executor can works in two ways:

• managed: handles transitions through an external trigger
• self-managed: handles transitions thanks to a TransitionMap

Constructor & Destructor Documentation

Executor() [1/3]

mc_control::fsm::Executor::Executor ( )

default

Executor should not be copied or moved

After init is called, the executor has been added to the GUI/log if it's moved these entries do not refer to an existing object anymore and this will lead to a crash

Executor() [2/3]

mc_control::fsm::Executor::Executor ( const Executor &  )

delete

Executor() [3/3]

mc_control::fsm::Executor::Executor ( Executor &&  )

delete

Member Function Documentation

complete()

bool mc_control::fsm::Executor::complete ( ) const

inline

Returns true if the executor reached the end of transition map

init()

void mc_control::fsm::Executor::init	(	Controller &	ctl,
		const mc_rtc::Configuration &	config,
		const std::string &	name = "",
		const std::vector< std::string > &	category = {}
	)

Initialize the executor

Parameters

ctl	Controller using this executor
config	Configuration of the executor
name	Name of the executor, empty for the main executor
category	Category under which the executor will appear in the GUI, defaults to {"FSM"} for the main executor and {"FSM", name} for other executors

interrupt()

void mc_control::fsm::Executor::interrupt ( )

inline

Trigger an interruption

next()

bool mc_control::fsm::Executor::next

(

)

Trigger next state

Returns

False if the FSM is not ready for next state

next_state()

const std::string& mc_control::fsm::Executor::next_state ( ) const

inline

Returns the next state's name

operator=() [1/2]

Executor& mc_control::fsm::Executor::operator= ( const Executor &  )

delete

operator=() [2/2]

Executor& mc_control::fsm::Executor::operator= ( Executor &&  )

delete

output()

const std::string& mc_control::fsm::Executor::output ( ) const

inline

Returns the latest state's output

read_msg()

bool mc_control::fsm::Executor::read_msg

(

std::string &

msg

)

Pass message to current state (read-only)

read_write_msg()

bool mc_control::fsm::Executor::read_write_msg	(	std::string &	msg,
		std::string &	out
	)

Pass message to current state (read-write)

ready()

bool mc_control::fsm::Executor::ready ( ) const

inline

Returns true if the executor is ready for next transition

resume()

bool mc_control::fsm::Executor::resume

(

const std::string &

state

)

Resume execution to a given state

Interrupt current state execution if needed

run()

bool mc_control::fsm::Executor::run	(	Controller &	ctl,
		bool	keep_state
	)

Run the current state

Parameters

ctl	Controller using this executor
keep_state	If true, keep the state when it finishes its run

Returns

True if the execution is complete

running()

bool mc_control::fsm::Executor::running ( ) const

inline

Returns true if the state is active

state()

const std::string& mc_control::fsm::Executor::state ( ) const

inline

Returns the current state's name

stop()

void mc_control::fsm::Executor::stop

(

Controller &

ctl

)

Stop the current stat eif necessary

Parameters

ctl	Controller using this executor

teardown()

void mc_control::fsm::Executor::teardown

(

Controller &

ctl

)

Teardown the current state if necessary

Parameters

ctl	Controller using this executor

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

• include/mc_control/fsm/Executor.h