[openrtm-commit:02342] r2893 - branches/FSM4RTC/OpenRTM-aist/src/lib/rtm
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2017年 1月 28日 (土) 00:13:15 JST
Author: n-ando
Date: 2017-01-28 00:13:15 +0900 (Sat, 28 Jan 2017)
New Revision: 2893
Added:
branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/StaticFSM.h
Modified:
branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/Macho.cpp
branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/Macho.h
Log:
[FSM4RTC,new file] Macho (Machine object state machine engine) and StaticFSM.h have been introduced to rtm. refs #3683
Modified: branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/Macho.cpp
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/Macho.cpp 2017-01-27 09:28:42 UTC (rev 2892)
+++ branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/Macho.cpp 2017-01-27 15:13:15 UTC (rev 2893)
@@ -331,7 +331,6 @@
// Perform entry actions on next state's parents (which exactly depends on previous state).
myCurrentState->entry(*previous);
- std::cout << "### State ### " << myCurrentState->name() << std::endl;
// State transition complete.
// Clear 'pending' information just now so that setState would assert in exits and entries, but not in init.
myPendingState = 0;
Modified: branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/Macho.h
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/Macho.h 2017-01-27 09:28:42 UTC (rev 2892)
+++ branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/Macho.h 2017-01-27 15:13:15 UTC (rev 2893)
@@ -1367,11 +1367,11 @@
class _MachineBase {
public:
class Alias currentState() const;
-
+
protected:
_MachineBase();
- ~_MachineBase();
-
+ virtual ~_MachineBase();
+
// Transition to new state.
void setState(_StateInstance & instance, _Initializer * init);
Added: branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/StaticFSM.h
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/StaticFSM.h (rev 0)
+++ branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/StaticFSM.h 2017-01-27 15:13:15 UTC (rev 2893)
@@ -0,0 +1,203 @@
+// -*- C++ -*-
+/*!
+ * @file StaticFSM.h
+ * @brief Static FSM framework based on Macho
+ * @date $Date$
+ * @author Noriaki Ando <n-ando at aist.go.jp>
+ *
+ * Copyright (C) 2017
+ * National Institute of
+ * Advanced Industrial Science and Technology (AIST), Japan
+ * All rights reserved.
+ *
+ * $Id$
+ *
+ */
+
+#ifndef RTC_STATICFSM_H
+#define RTC_STATICFSM_H
+
+#include <rtm/RTObject.h>
+#include <rtm/Macho.h>
+
+/*!
+ * @brief 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>
+ */
+
+
+/*!
+ * @brief Macho's TOPSTATE macro for RTC::Link
+ */
+#define FSM_TOPSTATE(TOP) \
+ struct TOP \
+ : public ::RTC::Link< TOP, ::Macho::TopBase< TOP > >
+
+/*!
+ * @brief Macho's SUBSTATE macro for RTC::Link
+ */
+#define FSM_SUBSTATE(STATE, SUPERSTATE) \
+ struct STATE \
+ : public ::RTC::Link< STATE, SUPERSTATE >
+
+/*!
+ * @brief Macho's STATE macro for RTC::Link
+ */
+#define FSM_STATE(S) \
+ public: \
+ typedef S SELF; \
+ S(::Macho::_StateInstance & instance) \
+ : ::RTC::Link<S, SUPER>(instance) \
+ { \
+ typedef ::__SameType< ::RTC::Link<S, SUPER>, LINK>::Check \
+ MustDeriveFromLink; \
+ } \
+ ~S() {} \
+ static const char * _state_name() { return #S; } \
+ Box & box() { return *static_cast<Box *>(_box()); } \
+ friend class ::_VS8_Bug_101615;
+
+
+using namespace Macho;
+
+
+namespace RTC
+{
+ /*!
+ * @class RTC::Machine class template
+ *
+ * This is modified version of Macho::Machine class. In this
+ * version, the constructor receives RTObject_impl* and it is kept
+ * to call callback functions.
+ *
+ */
+ template<class TOP>
+ class Machine : public Macho::Machine<TOP>
+ {
+ public:
+ Machine(RTC::RTObject_impl* comp)
+ : Macho::Machine<TOP>(), rtComponent(comp)
+ {
+ }
+ virtual ~Machine() {}
+
+ private:
+ Machine(const Machine<TOP> & other);
+ Machine<TOP> & operator=(const Machine<TOP> & other);
+
+ 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;
+ };
+
+ /*!
+ * @class Link class
+ *
+ * This is modified version of Macho::Link<C, P> class
+ * template. Link class itself State object class.
+ *
+ * Default state operation entry/init/exit is used internally, and
+ * new state operations onEntry/onInit/onExit are added. These onXXX
+ * state operations should be override from state implementations.
+ *
+ */
+ template<class C, class P>
+ class Link
+ : public Macho::Link<C, P>
+ {
+ protected:
+ Link(_StateInstance & instance)
+ : Macho::Link<C, P>(instance), rtComponent(NULL)
+ {
+ const RTC::Machine<C>* machine;
+ machine = dynamic_cast<const RTC::Machine<C>*>(&P::machine());
+ if (machine != NULL)
+ {
+ rtComponent = machine->rtComponent;
+ }
+ }
+ public:
+ typedef Link<C, P> LINK;
+
+ virtual void entry()
+ {
+ if (rtComponent == NULL)
+ {
+ onEntry();
+ return;
+ }
+ rtComponent->preOnFsmEntry(C::_state_name());
+ rtComponent->postOnFsmEntry(C::_state_name(), onEntry());
+ }
+ virtual void init()
+ {
+ if (rtComponent == NULL)
+ {
+ onInit();
+ return;
+ }
+ rtComponent->preOnFsmInit(C::_state_name());
+ rtComponent->postOnFsmInit(C::_state_name(), onInit());
+ }
+ virtual void exit()
+ {
+ if (rtComponent == NULL)
+ {
+ onExit();
+ return;
+ }
+ rtComponent->preOnFsmExit(C::_state_name());
+ rtComponent->postOnFsmExit(C::_state_name(), onExit());
+ }
+
+ virtual ReturnCode_t onEntry() { return RTC::RTC_OK; }
+ virtual ReturnCode_t onInit() { return RTC::RTC_OK; }
+ virtual ReturnCode_t onExit() { return RTC::RTC_OK; }
+
+ private:
+ RTObject_impl* rtComponent;
+ };
+};
+#endif // RTC_STATICFSM_H
Property changes on: branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/StaticFSM.h
___________________________________________________________________
Added: svn:executable
+ *
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