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StateNode.h Go to the documentation of this file. //-*-c++-*- #ifndef INCLUDED_StateNode_h_ #define INCLUDED_StateNode_h_ #include "Transition.h" #include "Behaviors/BehaviorBase.h" #include <vector> #include <string> //! Recursive data structure - both a state machine controller as well as a node within a state machine itself /*! * Override DoStart() / DoStop() as you would a normal BehaviorBase subclass to * have this node add some functionality of its own. * * Override setup() to build your own Transition and StateNode network if you want * this node to contain a state machine. * * You can override setup to create a sub-network, as well as overriding DoStart and DoStop, in the same class. * * There are two StateNode templates in <a href="http://cvs.tekkotsu.org/cgi/viewcvs.cgi/Tekkotsu/project/templates/"><i>project</i><tt>/templates/</tt></a>: * - <a href="http://cvs.tekkotsu.org/cgi/viewcvs.cgi/Tekkotsu/project/templates/statenode.h?rev=HEAD&content-type=text/vnd.viewcvs-markup">statenode.h</a> * is intended for leaf nodes, which directly implement the execution of a task. * - <a href="http://cvs.tekkotsu.org/cgi/viewcvs.cgi/Tekkotsu/project/templates/statemachine.h?rev=HEAD&content-type=text/vnd.viewcvs-markup">statemachine.h</a> * is intended for nodes which contain a network of transitions and subnodes, which together solve the task. */ class StateNode : public BehaviorBase { public: //!constructor, pass a name to use StateNode(const std::string& name) : BehaviorBase("StateNode",name), parent(NULL), transitions(), issetup(false), retain(true), startedTime(0), nodes() {} //!destructor, removes references to its outgoing transitions (be careful of incoming ones - they're still around!), and calls RemoveReference() on subnodes virtual ~StateNode(); //!Adds the specified StateTransition to the transition table virtual Transition* addTransition(Transition* trans); //!Returns the std::vector of transitions so you can modify them yourself if need be std::vector<Transition*>& getTransitions() { return transitions; } //!Returns the const std::vector of transitions so you can read through them if need be const std::vector<Transition*>& getTransitions() const { return transitions; } //!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 @c this if it is null. virtual StateNode* addNode(StateNode* node); //!Returns the std::vector of sub-nodes so you can modify them yourself if need be std::vector<StateNode*>& getNodes() { return nodes; } //!Returns the const std::vector of sub-nodes so you can read through them if need be const std::vector<StateNode*>& getNodes() const { return nodes; } //!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... void setRetain(bool f) { retain=f; } //!Transitions should call this when you are entering the state, so it can enable its transitions virtual void DoStart(); //!This is called by DoStart() when you should setup the network of subnodes (if any) virtual void setup() {issetup=true;} //!Transitions should call this when you are leaving the state, so it can disable its transitions virtual void DoStop(); //!This is called by DoStop() 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. */ virtual void teardown(); //!returns #parent virtual StateNode* getParent() const { return parent; } protected: //!constructor, pass the class name and instance name to use StateNode(const std::string& classname, const std::string& name) : BehaviorBase(classname,name), parent(NULL), transitions(), issetup(false), retain(true), startedTime(0), nodes() {} //!will throw an activation event through stateMachineEGID, used when DoStart() is called virtual void postStartEvent(); //!will throw 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. * @param 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 */ virtual void postCompletionEvent(float magnitude=0); //!will throw an deactivation event through stateMachineEGID, used when DoStop() is called /* @param duration the value to use for EventBase::duration -- nice but not generally used */ virtual void postStopEvent(); //Node Stuff: //! pointer to the machine that contains this node StateNode* parent; //! a vector of outgoing transitions std::vector<Transition*> transitions; //Machine Stuff: //! this is set to true if the network has been setup but not destroyed (i.e. don't need to call setupSubNodes again) bool issetup; //! 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) bool retain; //! the timestamp of last call to DoStart() unsigned int startedTime; //! vector of StateNodes, just so they can be dereferenced again on DoStop() (unless retained) or ~StateNode() std::vector<StateNode*> nodes; private: StateNode(const StateNode& node); //!< don't call this StateNode operator=(const StateNode& node); //!< don't call this }; /*! @file * @brief Describes StateNode, which is both a state machine controller as well as a node within a state machine itself * @author ejt (Creator) * * $Author: ejt $ * $Name: tekkotsu-3_0 $ * $Revision: 1.22 $ * $State: Exp $ * $Date: 2006/10/03 22:11:44 $ */ #endif

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