Runs a series of states in parallel. More...

#include <concurrence.hpp>

Inheritance diagram for yasmin::Concurrence:

Collaboration diagram for yasmin::Concurrence:

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Public Member Functions
	Concurrence (const StateMap &states, const std::string &default_outcome, const OutcomeMap &outcome_map, const ParameterMappingsMap &parameter_mappings={})
	Shared pointer type for Concurrence.
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
	Returns the parameter mappings for this concurrence state.
void	configure () override
	Configures this concurrence state and all of its children.
std::string	execute (Blackboard::SharedPtr blackboard) override
	Executes the state's specific logic.
void	cancel_state () override
	Cancels the current state execution.
const StateMap &	get_states () const noexcept
	Returns the map of states managed by this concurrence state.
const OutcomeMap &	get_outcome_map () const noexcept
	Returns the outcome map for this concurrence state.
const std::string &	get_default_outcome () const noexcept
	Returns the default outcome for this concurrence state.
std::string	to_string () const override
	Converts the state to a string representation.
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.

Protected Attributes
const StateMap	states
	The states to run concurrently (name -> state).
const std::string	default_outcome
	Default outcome.
OutcomeMap	outcome_map
StateOutcomeMap	intermediate_outcome_map
	Stores the intermediate outcomes of the concurrent states.
Outcomes	possible_outcomes
	The set of possible outcomes.
ParameterMappingsMap	parameter_mappings
	Per-child parameter mappings applied during configure().
Protected Attributes inherited from yasmin::State
Outcomes	outcomes
	The possible outcomes of this state.

Private Member Functions
void	apply_parameter_mappings (const std::string &state_name, const State::SharedPtr &state)
	Applies this container's parameter mappings to a direct child.

Static Private Member Functions
static Outcomes	generate_possible_outcomes (const OutcomeMap &outcome_map, const std::string &default_outcome)
	Helper function to generate a set of possible outcomes from an outcome map.

Private Attributes
std::mutex	intermediate_outcome_mutex
	Mutex for intermediate outcome map.
std::atomic_bool	configured {false}
	Flag to indicate if this concurrence state has been configured.

Detailed Description

Runs a series of states in parallel.

The Concurrence class runs a set of states concurrently, waiting for the termination of each, and then returns a single output according to a provided rule map, or a default outcome if no rule is satisfied.

Constructor & Destructor Documentation

◆ Concurrence()

Concurrence::Concurrence	(	const StateMap &	states,
		const std::string &	default_outcome,
		const OutcomeMap &	outcome_map,
		const ParameterMappingsMap &	parameter_mappings = {} )

Shared pointer type for Concurrence.

Constructs a State with a set of possible outcomes.

Parameters

states	A map of state names to states that will run concurrently.
default_outcome	The default outcome to return if no outcome map rules are satisfied.
outcome_map	A map of outcome names to requirements for achieving that outcome.

Member Function Documentation

◆ apply_parameter_mappings()

void Concurrence::apply_parameter_mappings	(	const std::string &	state_name,
		const State::SharedPtr &	state )

private

Applies this container's parameter mappings to a direct child.

Parameters

state_name	The child state name.
state	The child state instance.

◆ cancel_state()

void Concurrence::cancel_state ( )

overridevirtual

Cancels the current state execution.

This method sets the canceled flag to true and logs the action.

Reimplemented from yasmin::State.

◆ configure()

void Concurrence::configure ( )

overridevirtual

Configures this concurrence state and all of its children.

Reimplemented from yasmin::State.

◆ execute()

std::string Concurrence::execute ( Blackboard::SharedPtr blackboard )

overridevirtual

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.

◆ generate_possible_outcomes()

Outcomes Concurrence::generate_possible_outcomes	(	const OutcomeMap &	outcome_map,
		const std::string &	default_outcome )

staticprivate

Helper function to generate a set of possible outcomes from an outcome map.

Parameters

outcome_map
default_outcome

Returns: The set of possible outcomes

◆ get_default_outcome()

const std::string & Concurrence::get_default_outcome ( ) const

noexcept

Returns the default outcome for this concurrence state.

Returns: The default outcome as a string.

◆ get_outcome_map()

const OutcomeMap & Concurrence::get_outcome_map ( ) const

noexcept

Returns the outcome map for this concurrence state.

Returns: A map of outcome names to their requirements.

◆ get_parameter_mappings()

const ParameterMappingsMap & Concurrence::get_parameter_mappings ( ) const

noexcept

Returns the parameter mappings for this concurrence state.

Returns: A constant reference to the parameter mappings.

◆ get_states()

const StateMap & Concurrence::get_states ( ) const

noexcept

Returns the map of states managed by this concurrence state.

Returns: A map of state names to states.

◆ set_parameter_mappings()

void Concurrence::set_parameter_mappings	(	const std::string &	state_name,
		const ParameterMappings &	parameter_mappings )

Sets parameter mappings for a child state.

Parameters

state_name	The child state name.
parameter_mappings	Mapping entries child_parameter -> parent_parameter.

◆ to_string()

std::string Concurrence::to_string ( ) const

overridevirtual

Converts the state to a string representation.

Returns: A string representation of the state.

Reimplemented from yasmin::State.

Member Data Documentation

◆ configured

std::atomic_bool yasmin::Concurrence::configured {false}

private

Flag to indicate if this concurrence state has been configured.

◆ default_outcome

const std::string yasmin::Concurrence::default_outcome

protected

Default outcome.

◆ intermediate_outcome_map

StateOutcomeMap yasmin::Concurrence::intermediate_outcome_map

protected

Stores the intermediate outcomes of the concurrent states.

◆ intermediate_outcome_mutex

std::mutex yasmin::Concurrence::intermediate_outcome_mutex

private

Mutex for intermediate outcome map.

◆ outcome_map

OutcomeMap yasmin::Concurrence::outcome_map

protected

Specifies which combination of state outputs should produce a given overall output

◆ parameter_mappings

ParameterMappingsMap yasmin::Concurrence::parameter_mappings

protected

Per-child parameter mappings applied during configure().

◆ possible_outcomes

Outcomes yasmin::Concurrence::possible_outcomes

protected

The set of possible outcomes.

◆ states

const StateMap yasmin::Concurrence::states

protected

The states to run concurrently (name -> state).

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

yasmin/include/yasmin/concurrence.hpp
yasmin/src/yasmin/concurrence.cpp

Public Member Functions

Protected Attributes

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Concurrence()

Member Function Documentation

◆ apply_parameter_mappings()

◆ cancel_state()

◆ configure()

◆ execute()

◆ generate_possible_outcomes()

◆ get_default_outcome()

◆ get_outcome_map()

◆ get_parameter_mappings()

◆ get_states()

◆ set_parameter_mappings()

◆ to_string()

Member Data Documentation

◆ configured

◆ default_outcome

◆ intermediate_outcome_map

◆ intermediate_outcome_mutex

◆ outcome_map

◆ parameter_mappings

◆ possible_outcomes

◆ states