StaticFSM.h

[詳解]

// -*- C++ -*-
 
#ifndef RTC_STATICFSM_H
#define RTC_STATICFSM_H
 
#include <rtm/RTObject.h>
#include <rtm/Macho.h>
#include <rtm/RingBuffer.h>
#include <rtm/EventBase.h>

 

#define FSM_TOPSTATE(TOP) \
  struct TOP \
    : public ::RTC::Link< TOP, ::Macho::TopBase< TOP > >

#define FSM_SUBSTATE(STATE, SUPERSTATE) \
  struct STATE \
    : public ::RTC::Link< STATE, SUPERSTATE >

#define FSM_STATE(S) \
  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
 
#define FSM_INIT_VALUE(S) \
   template<> \
   const ::Macho::ID Macho::StateID<S>::value = ::Macho::Machine<typename S::TOP>::theStateCount++;
 
namespace RTC
{
  template<class TOP>
  class Machine
    : public Macho::Machine<TOP>
  {
  public:
    Machine(RTC::RTObject_impl* comp)
      : Macho::Machine<TOP>(), rtComponent(comp)
    {
    }
    ~Machine() override = default;
    virtual RingBuffer<EventBase*>& getBuffer()
    {
        return m_buffer;
    }
    virtual void run_event()
    {
        while (m_buffer.readable() > 0)
        {
            EventBase* ebt = m_buffer.get();
            (*ebt)();
            m_buffer.advanceRptr();
            delete ebt;
        }
    }
 
  private:
    Machine(const Machine<TOP> & other) = delete;
    Machine<TOP> & operator=(const Machine<TOP> & other) = delete;
 
    template<class C, class P>
    friend class Link;
 
#ifdef MACHO_SNAPSHOTS
    friend class Macho::Snapshot<TOP>;
#endif
    template<class T> friend class Macho::StateID;
 
    RTObject_impl* rtComponent;
    RingBuffer<EventBase*> m_buffer;
  };

  template<class C, class P>
  class Link
    : public Macho::Link<C, P>
  {
  protected:
    Link(Macho::_StateInstance & instance)
      : Macho::Link<C, P>(instance), rtComponent(nullptr)
    {
    }
    ~Link() override = default;
 
    void setrtc()
    {
      if (rtComponent != nullptr) { return; }
      const RTC::Machine<typename P::TOP>* machine =
        dynamic_cast<const RTC::Machine<typename P::TOP>*>(&P::machine());
      if (machine != nullptr) { rtComponent = machine->rtComponent; }
    }
  public:
    using LINK = Link<C, P>;
    
    void entry() override
    {
      setrtc();
      if (rtComponent == nullptr)
        {
          onEntry();
        }
      else
        {
          rtComponent->postOnFsmStateChange(C::_state_name(), RTC::RTC_OK);
          rtComponent->preOnFsmEntry(C::_state_name());
          rtComponent->postOnFsmEntry(C::_state_name(), onEntry());
        }
    }
    void init() override
    {
      setrtc();
      if (rtComponent == nullptr)
        {
          onInit();
        }
      else
        {
          rtComponent->preOnFsmInit(C::_state_name());
          rtComponent->postOnFsmInit(C::_state_name(), onInit());
        }
    }
    void exit() override
    {
      setrtc();
      if (rtComponent == nullptr)
        {
          onExit();
        }
      else
        {
          rtComponent->preOnFsmExit(C::_state_name());
          rtComponent->postOnFsmExit(C::_state_name(), onExit());
          rtComponent->preOnFsmStateChange(C::_state_name());
        }
    }
#if defined(__clang__)
#if defined(_WIN32) || defined(_WIN64)
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wsuggest-override"
#endif
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Winconsistent-missing-override"
#endif
#if defined(__GNUC__) && (__GNUC__ >= 5) && !defined(__clang__)
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wsuggest-override"
#endif
    // We can't use 'override' insetd of 'virtual', becase these
    // methods are used as TOP LEVEL SUPPER CLASS and SUB CLASS.
    virtual RTC::ReturnCode_t onEntry() { return RTC::RTC_OK; }
    virtual RTC::ReturnCode_t onInit()  { return RTC::RTC_OK; }
    virtual RTC::ReturnCode_t onExit()  { return RTC::RTC_OK; }
#if defined(__GNUC__) && (__GNUC__ >= 5) && !defined(__clang__)
#pragma GCC diagnostic pop
#endif
#if defined(__clang__)
#pragma clang diagnostic pop
#if defined(_WIN32) || defined(_WIN64)
#pragma clang diagnostic pop
#endif
#endif
 
    RTObject_impl* rtComponent;
  };
} // namespace RTC
#endif // RTC_STATICFSM_H