yasmin::PyState Class Reference

Trampoline class to enable Python classes to inherit from C++ State. More...

Inheritance diagram for yasmin::PyState:

Collaboration diagram for yasmin::PyState:

Public Member Functions
std::string	execute (yasmin::Blackboard::SharedPtr blackboard) override
	Override execute() to call Python implementation. We wrap the C++ Blackboard in BlackboardPyWrapper before passing to Python. The GIL must be acquired before calling into Python.
void	configure () override
	Override configure() to call Python implementation if available. The GIL must be acquired before calling into Python.
void	cancel_state () override
	Override cancel_state() to call Python implementation if available. The GIL must be acquired before calling into Python.
std::string	to_string () const override
	Override to_string(). The GIL must be acquired before calling into Python.
	State (const Outcomes &outcomes)
	Shared pointer type for State.
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.

Additional Inherited Members
Protected Attributes inherited from yasmin::State
Outcomes	outcomes
	The possible outcomes of this state.

Detailed Description

Trampoline class to enable Python classes to inherit from C++ State.

This class allows Python code to override the virtual methods of the State class, particularly the execute() method, while maintaining C++ type safety and performance.

Member Function Documentation

cancel_state()

void yasmin::PyState::cancel_state ( )

inlineoverridevirtual

Override cancel_state() to call Python implementation if available. The GIL must be acquired before calling into Python.

Reimplemented from yasmin::State.

configure()

void yasmin::PyState::configure ( )

inlineoverridevirtual

Override configure() to call Python implementation if available. The GIL must be acquired before calling into Python.

Reimplemented from yasmin::State.

execute()

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

inlineoverridevirtual

Override execute() to call Python implementation. We wrap the C++ Blackboard in BlackboardPyWrapper before passing to Python. The GIL must be acquired before calling into Python.

Reimplemented from yasmin::State.

State()

State::State

(

const Outcomes &

outcomes

)

Shared pointer type for State.

Constructs a State with a set of possible outcomes.

Parameters

outcomes

A set of possible outcomes for this state.

to_string()

std::string yasmin::PyState::to_string ( ) const

inlineoverridevirtual

Override to_string(). The GIL must be acquired before calling into Python.

Reimplemented from yasmin::State.

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

• yasmin/src/yasmin/state_pybind11.cpp