StateNode Class Reference
Recursive data structure - both a state machine controller as well as a node within a state machine itself. More...
#include <StateNode.h>
Detailed Description
Recursive data structure - both a state machine controller as well as a node within a state machine itself.
Override setup() to build your own Transition and StateNode network if you want this node to contain a state machine.
Override doStart() / doStop() as you would a normal BehaviorBase subclass to have this node add some functionality of its own.
You can override setup to create a sub-network, as well as overriding doStart and doStop, in the same class.
See also the tutorial page on State Machines.
There are two StateNode templates in project/templates/:
- statenode.h is intended for leaf nodes, which directly implement the execution of a task.
- statemachine.h is intended for nodes which contain a network of transitions and subnodes, which together solve the task.
Definition at line 31 of file StateNode.h.
Public Types | |
| enum | SuccessOrFailure { failureSignal = 0, successSignal = 1 } |
Values used in a SignalTrans for postStateSuccess and postStateFailure. More... | |
Public Member Functions | |
| StateNode () | |
| constructor, class name from typeid is used as instance name | |
| StateNode (const std::string &name) | |
| constructor, pass a name to use | |
| virtual | ~StateNode () |
| destructor, removes references to its outgoing transitions (be careful of incoming ones - they're still around!), and calls removeReference() on subnodes | |
| virtual Transition * | addTransition (Transition *trans) |
| Adds the specified StateTransition to the transition table. | |
| std::vector< Transition * > & | getTransitions () |
| Returns the std::vector of transitions so you can modify them yourself if need be. | |
| const std::vector< Transition * > & | getTransitions () const |
| Returns the const std::vector of transitions so you can read through them if need be. | |
| virtual StateNode * | addNode (StateNode *node) |
Adds a StateNode to nodes so it can be automatically dereferenced later, returns what it's passed (for convenience), calls addReference() on node. Also sets the node's parent to this if it is null. | |
| template<class T > | |
| T * | addNode (T *node) |
Adds a StateNode to nodes so it can be automatically dereferenced later, returns what it's passed (for convenience), calls addReference() on node. Also sets the node's parent to this if it is null. | |
| std::vector< StateNode * > & | getNodes () |
| Returns the std::vector of sub-nodes so you can modify them yourself if need be. | |
| const std::vector< StateNode * > & | getNodes () const |
| Returns the const std::vector of sub-nodes so you can read through them if need be. | |
| void | setRetain (bool f) |
| Sets the retain flag - if not retained, will removeReference() subnodes upon stop() and recreate them on start (by calling setup()) - may be too expensive to be worth saving memory... | |
| virtual void | start () |
| Transitions should call this when entering the state, so it can enable its transitions. | |
| virtual void | setup () |
| This is called by start() when it should setup the network of subnodes (if any). | |
| virtual void | stop () |
| Transitions should call this when leaving the state, so it can disable its transitions. | |
| virtual void | teardown () |
| This is called by stop() when you should destruct subnodes. | |
| virtual StateNode * | getParent () const |
| returns pointer to parent as a generic StateNode | |
| template<class T > | |
| T * | getAncestor () const |
| returns a correctly typed pointer to ancestor of the specified type; user by $reference | |
| template<class T > | |
| T * | parentAs () const |
| returns correctly typed pointer to parent for access to its members | |
| virtual StateNode * | getChild (const std::string &name) const |
| returns node with specified name that is a child of this node | |
| virtual StateNode * | getSibling (const std::string &name) const |
| returns node with specified name that is a child of parent, or of parent's parent, etc. | |
| virtual void | setSpeechText (const std::string &text) |
| Set text to speak on node start. | |
Static Public Member Functions | |
| template<typename T > | |
| static const T | extractSignal (const EventBase *ev) |
| Extract data from a signal sent to this state via Transition::fire(const EventBase&). | |
| template<typename T > | |
| static const T * | tryExtractSignal (const EventBase *ev) |
| Try to extract data from a signal sent to this state via Transition::fire(const EventBase&). | |
Protected Member Functions | |
| virtual void | postStateStart () |
| will post an activation event through stateMachineEGID, used when doStart() is called | |
| virtual void | postStateStop () |
| will post an deactivation event through stateMachineEGID, used when doStop() is called | |
| virtual void | postStateCompletion (float magnitude=0) |
| will post a status event through stateMachineEGID to signal "completion" of the node | |
| virtual void | postStateFailure () |
| posts a DataEvent<SuccessOrFailure>(failure) indicating failure of the node; meaning of failure is used-defined | |
| virtual void | postStateSuccess () |
| posts a DataEvent<SuccessOrFailure>(success) indicating success of the node; meaning of success is used-defined | |
| virtual void | postParentCompletion () |
| Causes the parent state machine to complete; use this to return from a nested state machine. | |
| virtual void | postParentFailure () |
| Causes the parent state machine to fail; use this to return failure from a nested state machine. | |
| virtual void | postParentSuccess () |
| Causes the parent state machine to succeed; use this to return success from a nested state machine. | |
| template<typename T > | |
| void | postParentSignal (const T &value=T()) |
| Causes the parent state machine to post a DataEvent through stateSignalEGID. value is optional. | |
| template<typename T > | |
| void | postStateSignal (const T &value=T()) |
| Posts a DataEvent through stateSignalEGID that can be picked up by a SignalTrans. value is optional. | |
Protected Attributes | |
| StateNode * | parent |
| pointer to the machine that contains this node | |
| std::vector< Transition * > | transitions |
| a vector of outgoing transitions | |
| bool | issetup |
| this is set to true if the network has been setup but not destroyed (i.e. don't need to call setupSubNodes again) | |
| bool | retain |
| this is set to true if the network should be retained between activations. Otherwise it's dereferenced upon doStop(). (or at least removeReference() is called on subnodes) | |
| unsigned int | startedTime |
| the timestamp of last call to start() | |
| std::vector< StateNode * > | nodes |
| vector of StateNodes, just so they can be dereferenced again on doStop() (unless retained) or ~StateNode() | |
| StateNode * | startnode |
| starting node (should be a member of nodes) | |
| std::string | speechText |
| Text to speak on node start (for debugging). | |
Private Member Functions | |
| StateNode (const StateNode &node) | |
| don't call this | |
| StateNode | operator= (const StateNode &node) |
| don't call this | |
| virtual void | DoStartEvent (struct __USE_doStart_AND_CHECK_event_NOT_DoStartEvent__ &) |
| temporary to produce warnings to help people update | |
Friends | |
| class | Transition |
Member Enumeration Documentation
Values used in a SignalTrans for postStateSuccess and postStateFailure.
Definition at line 126 of file StateNode.h.
Constructor & Destructor Documentation
| StateNode::StateNode | ( | ) |
constructor, class name from typeid is used as instance name
Definition at line 35 of file StateNode.h.
Referenced by Grasper::setup(), Grasper::CloseTheGripper::setup(), Grasper::OpenTheGripper::setup(), and Grasper::Grasp::setup().
| StateNode::StateNode | ( | const std::string & | name | ) |
constructor, pass a name to use
Definition at line 40 of file StateNode.h.
| StateNode::~StateNode | ( | ) | [virtual] |
destructor, removes references to its outgoing transitions (be careful of incoming ones - they're still around!), and calls removeReference() on subnodes
Definition at line 8 of file StateNode.cc.
| StateNode::StateNode | ( | const StateNode & | node | ) | [private] |
don't call this
Member Function Documentation
| T* StateNode::addNode | ( | T * | node | ) |
Adds a StateNode to nodes so it can be automatically dereferenced later, returns what it's passed (for convenience), calls addReference() on node. Also sets the node's parent to this if it is null.
Definition at line 60 of file StateNode.h.
Referenced by addNode().
Adds a StateNode to nodes so it can be automatically dereferenced later, returns what it's passed (for convenience), calls addReference() on node. Also sets the node's parent to this if it is null.
Definition at line 30 of file StateNode.cc.
Referenced by LookAtMarkers::setup(), Grasper::setup(), Grasper::CloseTheGripper::setup(), Grasper::OpenTheGripper::setup(), Grasper::Rest::setup(), Grasper::Grasp::setup(), and Grasper::Plan::setup().
| Transition * StateNode::addTransition | ( | Transition * | trans | ) | [virtual] |
Adds the specified StateTransition to the transition table.
Definition at line 23 of file StateNode.cc.
Referenced by LookAtMarkers::setup(), Grasper::setup(), Grasper::CloseTheGripper::setup(), Grasper::OpenTheGripper::setup(), Grasper::Rest::setup(), Grasper::Grasp::setup(), and Grasper::Plan::setup().
| virtual void StateNode::DoStartEvent | ( | struct __USE_doStart_AND_CHECK_event_NOT_DoStartEvent__ & | ) | [private, virtual] |
temporary to produce warnings to help people update
Definition at line 193 of file StateNode.h.
| static const T StateNode::extractSignal | ( | const EventBase * | ev | ) | [static] |
Extract data from a signal sent to this state via Transition::fire(const EventBase&).
Definition at line 107 of file StateNode.h.
| T * StateNode::getAncestor | ( | ) | const |
returns a correctly typed pointer to ancestor of the specified type; user by $reference
Definition at line 196 of file StateNode.h.
| StateNode * StateNode::getChild | ( | const std::string & | name | ) | const [virtual] |
returns node with specified name that is a child of this node
Definition at line 38 of file StateNode.cc.
| const std::vector<StateNode*>& StateNode::getNodes | ( | ) | const |
Returns the const std::vector of sub-nodes so you can read through them if need be.
Definition at line 66 of file StateNode.h.
| std::vector<StateNode*>& StateNode::getNodes | ( | ) |
Returns the std::vector of sub-nodes so you can modify them yourself if need be.
Definition at line 63 of file StateNode.h.
Referenced by EventLogger::spider().
| virtual StateNode* StateNode::getParent | ( | ) | const [virtual] |
returns pointer to parent as a generic StateNode
Definition at line 88 of file StateNode.h.
Referenced by LookAtMarkers::DummyFinish::doStart(), getAncestor(), EventLogger::isListening(), parentAs(), postParentCompletion(), postParentFailure(), postParentSignal(), and postParentSuccess().
| StateNode * StateNode::getSibling | ( | const std::string & | name | ) | const [virtual] |
returns node with specified name that is a child of parent, or of parent's parent, etc.
Definition at line 44 of file StateNode.cc.
Referenced by getSibling().
| const std::vector<Transition*>& StateNode::getTransitions | ( | ) | const |
Returns the const std::vector of transitions so you can read through them if need be.
Definition at line 55 of file StateNode.h.
| std::vector<Transition*>& StateNode::getTransitions | ( | ) |
Returns the std::vector of transitions so you can modify them yourself if need be.
Definition at line 52 of file StateNode.h.
| T* StateNode::parentAs | ( | ) | const |
returns correctly typed pointer to parent for access to its members
Definition at line 94 of file StateNode.h.
| virtual void StateNode::postParentCompletion | ( | ) | [protected, virtual] |
Causes the parent state machine to complete; use this to return from a nested state machine.
Definition at line 150 of file StateNode.h.
Referenced by PostMachineCompletion::doStart().
| virtual void StateNode::postParentFailure | ( | ) | [protected, virtual] |
Causes the parent state machine to fail; use this to return failure from a nested state machine.
Definition at line 153 of file StateNode.h.
Referenced by PostMachineFailure::doStart().
| void StateNode::postParentSignal | ( | const T & | value = T() |
) | [protected] |
Causes the parent state machine to post a DataEvent through stateSignalEGID. value is optional.
Definition at line 159 of file StateNode.h.
| virtual void StateNode::postParentSuccess | ( | ) | [protected, virtual] |
Causes the parent state machine to succeed; use this to return success from a nested state machine.
Definition at line 156 of file StateNode.h.
Referenced by PostMachineSuccess::doStart().
| void StateNode::postStateCompletion | ( | float | magnitude = 0 |
) | [protected, virtual] |
will post a status event through stateMachineEGID to signal "completion" of the node
"completion" is defined by your subclass - will mean different things to different nodes depending on the actions they are performing. So call this yourself if there is a natural ending point for your state.
- Parameters:
-
magnitude the value to use for EventBase::magnitude -- generally is 1 for status events, but since this is to signal completion, 0 (the default) may be more appropriate; if your node is doing something repetitive however, 1 (or the loop count) may be better
Definition at line 134 of file StateNode.cc.
Referenced by WaypointEngineNode< W, mcName, mcDesc >::doEvent(), SpeechNode::doEvent(), SoundNode::doEvent(), MotionSequenceNode< SIZE >::doEvent(), MCNodeBase::doEvent(), LookAtMarkers::Search::doEvent(), LookAtMarkers::TrackMarker::doEvent(), DynamicMotionSequenceNode::doEvent(), SetWrist::doStart(), ResetInitialPlacementXX::doStart(), LookAtMarkers::SelectMarker::doStart(), Grasper::PathPlanToRest::doStart(), Grasper::PathPlanConstrained::doStart(), Grasper::PathPlanUnconstrained::doStart(), SetJoint::moveJoint(), postParentCompletion(), SpeechNode::postStart(), WalkForward::setID(), WalkSideways::setID(), Turn::setID(), Rock::setID(), Sway::setID(), Twist::setID(), and SetGround::setID().
| virtual void StateNode::postStateFailure | ( | ) | [protected, virtual] |
posts a DataEvent<SuccessOrFailure>(failure) indicating failure of the node; meaning of failure is used-defined
Definition at line 144 of file StateNode.h.
Referenced by MCNodeBase::motionFails(), and postParentFailure().
| void StateNode::postStateSignal | ( | const T & | value = T() |
) | [protected] |
Posts a DataEvent through stateSignalEGID that can be picked up by a SignalTrans. value is optional.
Definition at line 164 of file StateNode.h.
Referenced by postParentSignal().
| void StateNode::postStateStart | ( | ) | [protected, virtual] |
will post an activation event through stateMachineEGID, used when doStart() is called
Definition at line 126 of file StateNode.cc.
Referenced by start().
| void StateNode::postStateStop | ( | ) | [protected, virtual] |
will post an deactivation event through stateMachineEGID, used when doStop() is called
Definition at line 130 of file StateNode.cc.
Referenced by stop().
| virtual void StateNode::postStateSuccess | ( | ) | [protected, virtual] |
posts a DataEvent<SuccessOrFailure>(success) indicating success of the node; meaning of success is used-defined
Definition at line 147 of file StateNode.h.
Referenced by postParentSuccess().
| void StateNode::setRetain | ( | bool | f | ) |
Sets the retain flag - if not retained, will removeReference() subnodes upon stop() and recreate them on start (by calling setup()) - may be too expensive to be worth saving memory...
Definition at line 69 of file StateNode.h.
| virtual void StateNode::setSpeechText | ( | const std::string & | text | ) | [virtual] |
Set text to speak on node start.
Definition at line 103 of file StateNode.h.
| virtual void StateNode::setup | ( | ) | [virtual] |
This is called by start() when it should setup the network of subnodes (if any).
Reimplemented in Grasper::Plan, Grasper::Grasp, Grasper::Rest, Grasper::OpenTheGripper, Grasper::CloseTheGripper, Grasper, and LookAtMarkers.
Definition at line 75 of file StateNode.h.
Referenced by start().
| void StateNode::start | ( | ) | [virtual] |
Transitions should call this when entering the state, so it can enable its transitions.
This could be implemented slightly more simply as a pre/postStart() pair, but keeping our specialization in start() itself allows us to keep pre/postStart empty (thus more robust to subclass overrides forgetting to call their superclass version, but also avoids any potential subclass mis-handling of transition fire while in preStart)
Reimplemented from BehaviorBase.
Definition at line 62 of file StateNode.cc.
Referenced by Grasper::dispatch(), OutputNode::postStart(), and start().
| void StateNode::stop | ( | ) | [virtual] |
Transitions should call this when leaving the state, so it can disable its transitions.
Reimplemented from BehaviorBase.
Reimplemented in LedActivate, LogNode, MCNodeBase, RecordMotionNode, SoundNode, SpeechNode, WalkNode, and WaypointEngineNode< W, mcName, mcDesc >.
Definition at line 96 of file StateNode.cc.
Referenced by LookAtMarkers::DummyFinish::doStart(), Grasper::NextRequest::doStart(), and OutputNode::postStart().
| void StateNode::teardown | ( | ) | [virtual] |
This is called by stop() when you should destruct subnodes.
Default implementation will take care of the subnodes and their transitions, you only need to worry about any *other* memory which may have been allocated. If none, you may not need implement this function at all.
Definition at line 117 of file StateNode.cc.
Referenced by stop(), and ~StateNode().
| static const T* StateNode::tryExtractSignal | ( | const EventBase * | ev | ) | [static] |
Try to extract data from a signal sent to this state via Transition::fire(const EventBase&).
Definition at line 117 of file StateNode.h.
Friends And Related Function Documentation
friend class Transition [friend] |
Definition at line 32 of file StateNode.h.
Member Data Documentation
bool StateNode::issetup [protected] |
this is set to true if the network has been setup but not destroyed (i.e. don't need to call setupSubNodes again)
Definition at line 176 of file StateNode.h.
Referenced by start(), stop(), teardown(), and ~StateNode().
std::vector<StateNode*> StateNode::nodes [protected] |
vector of StateNodes, just so they can be dereferenced again on doStop() (unless retained) or ~StateNode()
Definition at line 182 of file StateNode.h.
Referenced by addNode(), getChild(), getNodes(), getSibling(), GroupNode::postStart(), stop(), teardown(), and ~StateNode().
StateNode* StateNode::parent [protected] |
pointer to the machine that contains this node
Definition at line 170 of file StateNode.h.
Referenced by addNode(), getParent(), getSibling(), and start().
bool StateNode::retain [protected] |
this is set to true if the network should be retained between activations. Otherwise it's dereferenced upon doStop(). (or at least removeReference() is called on subnodes)
Definition at line 178 of file StateNode.h.
Referenced by setRetain(), and stop().
std::string StateNode::speechText [protected] |
Text to speak on node start (for debugging).
Definition at line 188 of file StateNode.h.
Referenced by setSpeechText(), and start().
unsigned int StateNode::startedTime [protected] |
the timestamp of last call to start()
Definition at line 180 of file StateNode.h.
Referenced by postStateCompletion(), and postStateStop().
StateNode* StateNode::startnode [protected] |
starting node (should be a member of nodes)
Definition at line 185 of file StateNode.h.
Referenced by LookAtMarkers::setup(), Grasper::setup(), Grasper::CloseTheGripper::setup(), Grasper::OpenTheGripper::setup(), Grasper::Rest::setup(), Grasper::Grasp::setup(), Grasper::Plan::setup(), start(), and teardown().
std::vector<Transition*> StateNode::transitions [protected] |
a vector of outgoing transitions
Definition at line 172 of file StateNode.h.
Referenced by addTransition(), getTransitions(), start(), stop(), and ~StateNode().
The documentation for this class was generated from the following files:
