DelayedStartStateMachine Class Reference

Small helper state machine that delays its start. More...

Inheritance diagram for DelayedStartStateMachine:

Collaboration diagram for DelayedStartStateMachine:

Public Member Functions
	DelayedStartStateMachine (std::chrono::milliseconds start_delay)
std::string	execute (yasmin::Blackboard::SharedPtr blackboard) override
	Executes the state's specific logic.
Public Member Functions inherited from yasmin::StateMachine
	StateMachine (const Outcomes &outcomes, bool handle_sigint=false)
	Shared pointer type for StateMachine.
	StateMachine (const std::string &name, const Outcomes &outcomes, bool handle_sigint=false)
	Construct a new StateMachine object.
	~StateMachine ()
	Destroy the StateMachine object.
void	add_state (const std::string &name, State::SharedPtr state, const Transitions &transitions={}, const Remappings &remappings={}, const ParameterMappings &parameter_mappings={})
	Adds a state to the state machine with specified transitions.
void	set_name (const std::string &name)
	Sets the name of the state machine.
const std::string &	get_name () const noexcept
	Gets the name of the state machine.
void	set_start_state (const std::string &state_name)
	Sets the start state for the state machine.
std::string const &	get_start_state () const noexcept
	Retrieves the name of the start state.
StateMap const &	get_states () const noexcept
	Gets a constant reference to the map of states.
TransitionsMap const &	get_transitions () const noexcept
	Gets a constant reference to the map of transitions.
std::string const &	get_current_state () const
	Retrieves the current state name.
void	add_start_cb (StartCallbackType cb)
	Adds a callback function to be called when the state machine starts.
void	add_transition_cb (TransitionCallbackType cb)
	Adds a callback function for state transitions.
void	add_end_cb (EndCallbackType cb)
	Adds a callback function to be called when the state machine ends.
void	set_parameter_mappings (const std::string &state_name, const ParameterMappings &parameter_mappings)
	Sets parameter mappings for a child state.
const ParameterMappingsMap &	get_parameter_mappings () const noexcept
	Gets all parameter mappings.
void	validate (bool strict_mode=false)
	Validates the state machine configuration.
void	configure () override
	Executes the state machine.
std::string	execute (Blackboard::SharedPtr blackboard) override
	Executes the state's specific logic.
std::string	execute ()
	Executes the state machine using a default blackboard.
std::string	operator() ()
	Invokes the state machine using a default blackboard.
void	cancel_state () override
	Cancels the currently active child state.
void	cancel_state_machine ()
	Cancels the complete state machine execution.
void	set_sigint_handler (bool handle=true)
	Sets whether the state machine should handle SIGINT for cancel.
std::string	to_string () const override
	Converts the state machine to a string representation.
std::string	operator() (Blackboard::SharedPtr blackboard)
	Executes the state and returns the outcome.
Public Member Functions inherited from yasmin::State
	State (const Outcomes &outcomes)
	Shared pointer type for State.
virtual	~State ()
	Virtual destructor.
Blackboard::SharedPtr	get_parameters_blackboard () const
	Gets the private parameter blackboard of this state.
bool	is_idle () const noexcept
	Checks if the state is idle.
bool	is_running () const noexcept
	Checks if the state is currently running.
bool	is_canceled () const noexcept
	Checks if the state has been canceled.
bool	is_completed () const noexcept
	Checks if the state has completed execution.
std::string	operator() (Blackboard::SharedPtr blackboard)
	Executes the state and returns the outcome.
Outcomes const &	get_outcomes () const noexcept
	Gets the set of possible outcomes for this state.
void	set_description (const std::string &description)
	Sets the description for this state.
const std::string &	get_description () const
	Gets the description of this state.
void	set_outcome_description (const std::string &outcome, const std::string &description)
	Sets a human-readable description for an outcome.
const std::string &	get_outcome_description (const std::string &outcome) const
	Gets the human-readable description for an outcome.
const std::unordered_map< std::string, std::string > &	get_outcome_descriptions () const
	Gets all outcome descriptions.
void	add_input_key (const BlackboardKeyInfo &key_info)
	Adds an input key to the state's metadata.
void	add_input_key (const std::string &key_name)
	Adds an input key with a name only.
void	add_input_key (const std::string &key_name, const std::string &description)
	Adds an input key with a name and description.
template<typename T>
void	add_input_key (const std::string &key_name, const std::string &description, T default_value)
	Adds an input key with a name, default value and description.
void	add_output_key (const BlackboardKeyInfo &key_info)
	Adds an output key to the state's metadata.
void	add_output_key (const std::string &key_name)
	Adds an output key with a name only.
void	add_output_key (const std::string &key_name, const std::string &description)
	Adds an output key with a name and description.
const std::vector< BlackboardKeyInfo > &	get_input_keys () const
	Gets the input keys metadata.
const std::vector< BlackboardKeyInfo > &	get_output_keys () const
	Gets the output keys metadata.
void	declare_parameter (const BlackboardKeyInfo &parameter_info)
	Declares a parameter in the state metadata.
void	declare_parameter (const std::string &parameter_name)
	Declares a parameter with a name only.
void	declare_parameter (const std::string &parameter_name, const std::string &description)
	Declares a parameter with a name and description.
template<typename T>
void	declare_parameter (const std::string &parameter_name, const std::string &description, T default_value)
	Declares a parameter with a name, description, and default value.
bool	has_parameter (const std::string &parameter_name) const
	Checks if a parameter exists in the state-local parameter storage.
template<typename T>
T	get_parameter (const std::string &parameter_name) const
	Gets a parameter from the state-local parameter storage.
template<typename T>
void	set_parameter (const std::string &parameter_name, T value)
	Sets a parameter in the state-local parameter storage.
bool	is_parameter_declared (const std::string &parameter_name) const
	Checks whether a parameter was declared in the state metadata.
void	copy_parameter_from (const State &source_state, const std::string &source_parameter_name, const std::string &target_parameter_name)
	Copies a parameter value from another state.
const std::vector< BlackboardKeyInfo > &	get_parameters () const
	Gets the declared parameter metadata.
const StateMetadata &	get_metadata () const
	Gets the complete state metadata.

Private Attributes
std::chrono::milliseconds	start_delay

Additional Inherited Members
Public Types inherited from yasmin::StateMachine
using	StartCallbackType
	Alias for a callback function executed before running the state machine.
using	TransitionCallbackType
	Alias for a callback function executed before changing the state.
using	EndCallbackType
	Alias for a callback function executed after running the state machine.
Protected Attributes inherited from yasmin::State
Outcomes	outcomes
	The possible outcomes of this state.

Detailed Description

Small helper state machine that delays its start.

The delay makes the scheduling of the two concurrent branches less symmetric, which helps to reproduce bugs caused by shared remapping state.

Constructor & Destructor Documentation

DelayedStartStateMachine()

DelayedStartStateMachine::DelayedStartStateMachine ( std::chrono::milliseconds start_delay )

inlineexplicit

Member Function Documentation

execute()

std::string DelayedStartStateMachine::execute ( yasmin::Blackboard::SharedPtr blackboard )

inlineoverridevirtual

Executes the state's specific logic.

Parameters

blackboard

A shared pointer to the Blackboard to use during execution.

Returns

A string representing the outcome of the execution.

This method is intended to be overridden by derived classes to provide specific execution logic.

Reimplemented from yasmin::State.

Member Data Documentation

start_delay

std::chrono::milliseconds DelayedStartStateMachine::start_delay

private

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The documentation for this class was generated from the following file:

• yasmin/test/test_concurrence.cpp