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StateNode.h

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00001 //-*-c++-*-
00002 #ifndef INCLUDED_StateNode_h_
00003 #define INCLUDED_StateNode_h_
00004 
00005 #include "Transition.h"
00006 #include "Behaviors/BehaviorBase.h"
00007 #include <vector>
00008 #include <string>
00009 
00010 //! Recursive data structure - both a state machine controller as well as a node within a state machine itself
00011 /*! Override setup() to setup your own Transition and StateNode network.*/
00012 class StateNode  : public BehaviorBase {
00013 public:
00014   //! deprecated, behavior constructors should take a name argument (which by default should be the name of the type of the class)
00015   StateNode() __attribute__((deprecated));
00016 
00017   //!constructor, pass a name to use
00018   StateNode(const std::string& name) : BehaviorBase("StateNode",name), parent(NULL), transitions(), issetup(false), retain(true), nodes() {}
00019 
00020   //!destructor, removes references to its outgoing transitions (be careful of incoming ones - they're still around!), and calls RemoveReference() on subnodes
00021   virtual ~StateNode();
00022 
00023   //!Adds the specified StateTransition to the transition table
00024   virtual Transition* addTransition(Transition* trans);
00025 
00026   //!Returns the std::vector of transitions so you can modify them yourself if need be
00027   std::vector<Transition*>& getTransitions() { return transitions; }
00028 
00029   //!Returns the const std::vector of transitions so you can read through them if need be
00030   const std::vector<Transition*>& getTransitions() const { return transitions; }
00031 
00032   //!Adds a StateNode to #nodes so it can be automatically dereferenced later, returns what it's passed (for convenience), calls AddReference() on @a node.  Also sets the node's parent to #this if it is null.
00033   virtual StateNode* addNode(StateNode* node);
00034 
00035   //!Returns the std::vector of sub-nodes so you can modify them yourself if need be
00036   std::vector<StateNode*>& getNodes() { return nodes; }
00037 
00038   //!Returns the const std::vector of sub-nodes so you can read through them if need be
00039   const std::vector<StateNode*>& getNodes() const { return nodes; }
00040 
00041   //!Sets the retain flag - if not retained, will RemoveReference() subnodes upon DoStop() and recreate them on DoStart (by calling setup()) - may be too expensive to be worth saving memory...
00042   void setRetain(bool f) { retain=f; }
00043 
00044   //!Transitions should call this when you are entering the state, so it can enable its transitions
00045   virtual void DoStart();
00046 
00047   //!This is called by DoStart() when you should setup the network of subnodes
00048   virtual void setup() {issetup=true;}
00049 
00050   //!Transitions should call this when you are leaving the state, so it can disable its transitions
00051   virtual void DoStop();
00052   
00053   //!This is called by DoStop() when you should destruct subnodes
00054   virtual void teardown() { issetup=false; /*std::cout << "Teardown!!!!!!!!" << std::endl;*/ }
00055 
00056   //!returns #parent
00057   virtual StateNode* getParent() const { return parent; }
00058 
00059 protected:
00060   //!constructor, pass the class name and instance name to use 
00061   StateNode(const std::string& classname, const std::string& name) : BehaviorBase(classname,name), parent(NULL), transitions(), issetup(false), retain(true), nodes() {}
00062 
00063   //!called by a subnode when it is being DoStart()'ed
00064   virtual void transitionTo(StateNode* n);
00065 
00066   //!called by a subnode when it is being DoStop()'ed
00067   virtual void transitionFrom(StateNode* n);
00068 
00069   //Node Stuff:
00070   //! pointer to the machine that contains this node
00071   StateNode* parent;
00072   //! a vector of outgoing transitions
00073   std::vector<Transition*> transitions;
00074   
00075   //Machine Stuff:
00076   //! this is set to true if the network has been setup but not destroyed (i.e. don't need to call setupSubNodes again)
00077   bool issetup;
00078   //! 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)
00079   bool retain;
00080   //! vector of StateNodes, just so they can be dereferenced again on DoStop() (unless retained) or ~StateNode()
00081   std::vector<StateNode*> nodes;
00082 
00083 private:
00084   StateNode(const StateNode& node); //!< don't call this
00085   StateNode operator=(const StateNode& node); //!< don't call this
00086 };
00087 
00088 /*! @file
00089  * @brief Describes StateNode, which is both a state machine controller as well as a node within a state machine itself
00090  * @author ejt (Creator)
00091  *
00092  * $Author: ejt $
00093  * $Name: tekkotsu-2_2_2 $
00094  * $Revision: 1.16 $
00095  * $State: Exp $
00096  * $Date: 2004/12/17 05:50:56 $
00097  */
00098 
00099 #endif

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