StaticFSM.h ファイル

Static FSM framework based on Macho [詳解]

#include <rtm/RTObject.h>
#include <rtm/Macho.h>
#include <rtm/RingBuffer.h>
#include <rtm/EventBase.h>

StaticFSM.h の依存先関係図:

被依存関係図:

[ソースコード]

クラス
class	RTC::Machine< TOP >
class	RTC::Link< C, P >

名前空間
namespace	RTC
	RTコンポーネント

マクロ定義
#define	FSM_TOPSTATE(TOP)
	State machine definition macros
#define	FSM_SUBSTATE(STATE, SUPERSTATE)
	Macho's SUBSTATE macro for RTC::Link
#define	FSM_STATE(S)
	Macho's STATE macro for RTC::Link
#define	FSM_INIT_VALUE(S)

詳解

Static FSM framework based on Macho

日付

$Date$

著者

Noriaki Ando n-and.nosp@m.o@ai.nosp@m.st.go.nosp@m..jp

Copyright (C) 2017 National Institute of Advanced Industrial Science and Technology (AIST), Japan All rights reserved.

$Id$

マクロ定義詳解

FSM_INIT_VALUE

#define FSM_INIT_VALUE

(

S

)

値:

   template<> \
   const ::Macho::ID Macho::StateID<S>::value = ::Macho::Machine<typename S::TOP>::theStateCount++;

FSM_STATE

#define FSM_STATE

(

S

)

値:

  public: \
    using SELF = S;                                                     \
    S(::Macho::_StateInstance & instance)                               \
      : ::RTC::Link<S, SUPER>(instance)                                 \
    {                                                                   \
      using MustDeriveFromLink = ::CheckSameType<::RTC::Link<S, SUPER>,    \
                                              LINK>::Check;             \
      static_assert(static_cast<MustDeriveFromLink*>(nullptr)==nullptr, \
                    "dummy assert for suppress warning");               \
    }                                                                   \
    ~S() override {}                                                    \
    static const char * _state_name() { return #S; }                    \
    Box & box() { return *static_cast<Box *>(_box()); }                 \
    friend class ::_VS8_Bug_101615

Macho's STATE macro for RTC::Link

FSM_SUBSTATE

#define FSM_SUBSTATE	(		STATE,
			SUPERSTATE )

値:

  struct STATE \
    : public ::RTC::Link< STATE, SUPERSTATE >

Macho's SUBSTATE macro for RTC::Link

FSM_TOPSTATE

#define FSM_TOPSTATE

(

TOP

)

値:

  struct TOP \
    : public ::RTC::Link< TOP, ::Macho::TopBase< TOP > >

State machine definition macros

FSM basic structure

namespace <FSM name> { FSM_TOPSTATE(Top) { struct Box { Box() : <initializer> {} : <some operations> : }; FSM_STATE(Top); : virtual void event_operations() {}; : private: virtual RTC::ReturnCode_t onInit(); virtual RTC::ReturnCode_t onEntry(); virtual RTC::ReturnCode_t onExit(); };

FSM_SUBSTATE(OtherState, Top) { FSM_STATE(OtherState); virtual void event_operation(); private: virtual RTC::ReturnCode_t onEntry(); virtual RTC::ReturnCode_t onExit(); };

FSM_SUBSTATE(OtherState2, Top) : other states

}; // end of <FSM name>

Macho's TOPSTATE macro for RTC::Link