Tekkotsu: StateNode.cc Source File

00001 #include "StateNode.h"
00002 #include "Events/EventRouter.h"
00003 #include "Wireless/Wireless.h"
00004 
00005 /*! @deprecated, behavior constructors should take a name argument (which by default should be the name of the type of the class) */
00006 StateNode::StateNode() : BehaviorBase("StateNode"), parent(NULL), transitions(), issetup(false), retain(true), startedTime(0), nodes() {}
00007 
00008 StateNode::~StateNode() {
00009   ASSERT(!isActive(), "Destructing while active?")
00010   for(std::vector<Transition*>::iterator it=transitions.begin(); it!=transitions.end(); it++)
00011     (*it)->RemoveReference();
00012   if(issetup) {
00013     teardown();
00014     if(issetup) {
00015       serr->printf("WARNING %s doesn't seem to call StateNode::teardown() in its\n"
00016                    "        implementation of the function: issetup=%d, nodes.size()=%d\n"
00017                    "        Attempting to recover...\n",getClassName().c_str(),issetup,nodes.size());
00018       StateNode::teardown();
00019     }
00020   }
00021 }
00022 
00023 Transition* StateNode::addTransition(Transition* trans) {
00024   transitions.push_back(trans);
00025   trans->AddReference();
00026   trans->addSource(this);
00027   return trans;
00028 }
00029 
00030 StateNode* StateNode::addNode(StateNode* node) {
00031   nodes.push_back(node);
00032   node->AddReference();
00033   if ( node->parent == NULL )
00034     node->parent = this;
00035   return node;
00036 }
00037 
00038 void StateNode::DoStart() {
00039   if ( parent == NULL && transitions.size() > 0 )
00040     serr->printf("WARNING StateNode '%s' has transitions but no parent; you probably forgot to call addNode().\n",getName().c_str());
00041   BehaviorBase::DoStart();
00042   if(!issetup) {
00043     setup();
00044     issetup=true;
00045   }
00046   for(std::vector<Transition*>::iterator it=transitions.begin(); it!=transitions.end(); it++)
00047     if ( !(*it)->isActive()  ) (*it)->DoStart();
00048   postStartEvent();
00049 }
00050 
00051 void StateNode::DoStop() {
00052   for(std::vector<Transition*>::iterator it=transitions.begin(); it!=transitions.end(); it++) {
00053     if((*it)->isActive())
00054       (*it)->DoStop();
00055   }
00056   for(std::vector<StateNode*>::iterator it=nodes.begin(); it!=nodes.end(); it++)
00057     if((*it)->isActive())
00058       (*it)->DoStop();
00059   if(!retain && issetup) {
00060     teardown();
00061     if(issetup) {
00062       serr->printf("WARNING %s doesn't seem to call StateNode::teardown() in its\n"
00063                    "        implementation of the function: issetup=%d, nodes.size()=%d\n"
00064                    "        Attempting to recover...\n",getClassName().c_str(),issetup,nodes.size());
00065       StateNode::teardown();
00066     }
00067   }
00068   postStopEvent();
00069   BehaviorBase::DoStop();
00070 }
00071 
00072 void StateNode::teardown() {
00073   for(std::vector<StateNode*>::iterator it=nodes.begin(); it!=nodes.end(); it++)
00074     (*it)->RemoveReference();
00075   nodes.clear();
00076   issetup=false;
00077   /*std::cout << "Teardown!!!!!!!!" << std::endl;*/
00078 }
00079 
00080 void StateNode::postStartEvent() {
00081   erouter->postEvent(EventBase::stateMachineEGID,reinterpret_cast<unsigned int>(this),EventBase::activateETID,0,getName(),1);
00082 }
00083 
00084 void StateNode::postCompletionEvent(float magnitude/*=0*/) {
00085   erouter->postEvent(EventBase::stateMachineEGID,reinterpret_cast<unsigned int>(this),EventBase::statusETID,get_time()-startedTime,getName(),magnitude);
00086 }
00087 
00088 void StateNode::postStopEvent() {
00089   erouter->postEvent(EventBase::stateMachineEGID,reinterpret_cast<unsigned int>(this),EventBase::deactivateETID,get_time()-startedTime,getName(),0);
00090 }
00091 
00092 /*! @file 
00093  * @brief Describes StateNode, which is both a state machine controller as well as a node within a state machine itself
00094  * @author ejt (Creator)
00095  *
00096  * $Author: ejt $
00097  * $Name: tekkotsu-2_3 $
00098  * $Revision: 1.22 $
00099  * $State: Exp $
00100  * $Date: 2005/01/24 22:12:13 $
00101  */
00102