state.hpp

Go to the documentation of this file.

// Copyright (C) 2023 Miguel Ángel González Santamarta
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
#ifndef YASMIN__STATE_HPP
#define YASMIN__STATE_HPP
 
#include <atomic>
#include <memory>
#include <set>
#include <string>
#include <vector>
 
#ifdef __GNUG__     // If using GCC/G++
#include <cxxabi.h> // For abi::__cxa_demangle
#endif
 
#include "yasmin/blackboard.hpp"
#include "yasmin/logs.hpp"
 
namespace yasmin {

enum class StateStatus {
  IDLE,     
  RUNNING,  
  CANCELED, 
  COMPLETED 
};

class State {
 
protected:
  std::set<std::string> outcomes;
 
private:
  std::atomic<StateStatus> status{StateStatus::IDLE};
 
public:
  State(const std::set<std::string> &outcomes);

  StateStatus get_status() const;

  bool is_idle() const;

  bool is_running() const;

  bool is_canceled() const;

  bool is_completed() const;

  std::string operator()(std::shared_ptr<yasmin::Blackboard> blackboard);

  virtual std::string execute(std::shared_ptr<yasmin::Blackboard> blackboard) {
    (void)blackboard; // Suppress unused parameter warning
    return "";
  }

  virtual void cancel_state() {
    YASMIN_LOG_INFO("Canceling state '%s'", this->to_string().c_str());
    this->status.store(StateStatus::CANCELED);
  }

  std::set<std::string> const &get_outcomes();

  virtual std::string to_string() {
    std::string name = typeid(*this).name();
 
#ifdef __GNUG__ // If using GCC/G++
    int status;
    // Demangle the name using GCC's demangling function
    char *demangled =
        abi::__cxa_demangle(name.c_str(), nullptr, nullptr, &status);
    if (status == 0) {
      name = demangled;
    }
    free(demangled);
#endif
 
    return name; // Return the demangled class name
  }
};
 
} // namespace yasmin
 
#endif // YASMIN__STATE_HPP