yasmin Namespace Reference

Namespaces
namespace	detail
namespace	pybind11_utils

Classes
class	Blackboard
	A thread-safe storage for key-value pairs of varying types. More...
struct	BlackboardKeyInfo
	Information about a blackboard key including name and optional default value. More...
struct	StateMetadata
	Metadata for a state including description and blackboard key information. More...
struct	BlackboardKeyInfoPy
	Extension methods for BlackboardKeyInfo. Added via ADL-friendly free functions used by the pybind code. More...
class	BlackboardPyWrapper
	Python-facing wrapper around the native Blackboard. More...
class	CbState
	Represents a state that executes a callback function. More...
class	Concurrence
	Runs a series of states in parallel. More...
class	State
	Represents a state in a state machine. More...
class	StateMachine
	A class that implements a state machine with a set of states, transitions, and callback mechanisms for state changes. More...
class	StateMachineCancelException
	Exception thrown when a state machine is canceled as a whole. More...
class	PyState
	Trampoline class to enable Python classes to inherit from C++ State. More...

Typedefs
typedef void(*	LogFunction) (LogLevel level, const char *file, const char *function, int line, const char *text)
	Type definition for a logging function.
using	StringSet = std::set<std::string>
	Set of strings.
using	StringMap = std::unordered_map<std::string, std::string>
	Map from string to string.
using	Outcomes = StringSet
	Set of possible outcomes for states.
using	StateOutcomeMap = StringMap
	Map of state names to their outcomes.
using	OutcomeMap = std::unordered_map<std::string, StateOutcomeMap>
	Map of outcomes to state outcome maps.
using	Transitions = StringMap
	Map of transitions (string to string).
using	TransitionsMap = std::unordered_map<std::string, Transitions>
	Map of state names to transitions.
using	Remappings = StringMap
	Map of remappings (string to string).
using	RemappingsMap = std::unordered_map<std::string, Remappings>
	Map of keys to remappings.
using	ParameterMappings = StringMap
	Map of child parameter names to parent parameter names.
using	ParameterMappingsMap = std::unordered_map<std::string, ParameterMappings>
	Map of state names to parameter mappings.
using	TypeRegistry = StringMap
	Registry for type information.
using	BlackboardPtr = std::shared_ptr<Blackboard>
	Shared pointer to Blackboard.
using	StatePtr = std::shared_ptr<State>
	Shared pointer to State.
using	StateMachinePtr = std::shared_ptr<StateMachine>
	Shared pointer to StateMachine.
using	ConcurrencePtr = std::shared_ptr<Concurrence>
	Shared pointer to Concurrence.
using	StateMap = std::unordered_map<std::string, std::shared_ptr<State>>
	Map of state names to state pointers.
using	CbStateCallback = std::function<std::string(std::shared_ptr<Blackboard>)>
	Callback function type for CbState.

Enumerations
enum	LogLevel { ERROR = 0 , WARN , INFO , DEBUG }
	Enum representing different log levels for controlling log verbosity. More...
enum class	StateStatus { IDLE , RUNNING , CANCELED , COMPLETED }
	Enumeration representing the current status of a state. More...

Functions
std::string	demangle_type (const std::string &mangled_name)
	Demangle a C++ type name to a human-readable format.
BlackboardKeyInfo	blackboard_key_info_from_pyobject (const std::string &key_name, py::object value)
	Create a BlackboardKeyInfo from a Python object default value.
py::object	blackboard_key_info_get_py_default (const BlackboardKeyInfo &info)
	Convert a BlackboardKeyInfo default value back to a Python object.
void	default_log_message (LogLevel level, const char *file, const char *function, int line, const char *text)
	Default logging function.
void	set_log_level (LogLevel new_log_level)
	Sets the log level for the logs.
const char *	log_level_to_name (LogLevel level)
	Parse LogLevel to string.
template<yasmin::LogLevel LEVEL>
void	log_helper (const char *file, const char *function, int line, const char *text,...)
	Variadic template function to log messages at different levels.
const char *	extract_filename (const char *path)
	Extracts the filename from a given file path.
void	set_loggers (LogFunction log_message)
	Sets custom logging functions for different log levels.
void	set_default_loggers ()
	Sets the default logging function for all log levels.

Variables
LogLevel	log_level = INFO
	The current log level for the application.
LogFunction	log_message = default_log_message
	Pointer to the logging function.

Typedef Documentation

BlackboardPtr

using yasmin::BlackboardPtr = std::shared_ptr<Blackboard>

Shared pointer to Blackboard.

CbStateCallback

using yasmin::CbStateCallback = std::function<std::string(std::shared_ptr<Blackboard>)>

Callback function type for CbState.

ConcurrencePtr

using yasmin::ConcurrencePtr = std::shared_ptr<Concurrence>

Shared pointer to Concurrence.

LogFunction

typedef void(* yasmin::LogFunction) (LogLevel level, const char *file, const char *function, int line, const char *text)

Type definition for a logging function.

This type represents a function pointer that takes a file name, function name, line number, log message, and a variable number of additional arguments for formatting the log message.

Parameters

level	The log level of the message
file	The name of the source file where the log function is called.
function	The name of the function where the log function is called.
line	The line number in the source file where the log function is called.
text	The format string for the log message, similar to printf.
...	Additional arguments for the format string.

OutcomeMap

using yasmin::OutcomeMap = std::unordered_map<std::string, StateOutcomeMap>

Map of outcomes to state outcome maps.

Outcomes

using yasmin::Outcomes = StringSet

Set of possible outcomes for states.

ParameterMappings

using yasmin::ParameterMappings = StringMap

Map of child parameter names to parent parameter names.

ParameterMappingsMap

using yasmin::ParameterMappingsMap = std::unordered_map<std::string, ParameterMappings>

Map of state names to parameter mappings.

Remappings

using yasmin::Remappings = StringMap

Map of remappings (string to string).

RemappingsMap

using yasmin::RemappingsMap = std::unordered_map<std::string, Remappings>

Map of keys to remappings.

StateMachinePtr

using yasmin::StateMachinePtr = std::shared_ptr<StateMachine>

Shared pointer to StateMachine.

StateMap

using yasmin::StateMap = std::unordered_map<std::string, std::shared_ptr<State>>

Map of state names to state pointers.

StateOutcomeMap

using yasmin::StateOutcomeMap = StringMap

Map of state names to their outcomes.

StatePtr

using yasmin::StatePtr = std::shared_ptr<State>

Shared pointer to State.

StringMap

using yasmin::StringMap = std::unordered_map<std::string, std::string>

Map from string to string.

StringSet

using yasmin::StringSet = std::set<std::string>

Set of strings.

Transitions

using yasmin::Transitions = StringMap

Map of transitions (string to string).

TransitionsMap

using yasmin::TransitionsMap = std::unordered_map<std::string, Transitions>

Map of state names to transitions.

TypeRegistry

using yasmin::TypeRegistry = StringMap

Registry for type information.

Enumeration Type Documentation

LogLevel

enum yasmin::LogLevel

Enum representing different log levels for controlling log verbosity.

This enum defines the severity levels of logs that can be used to control which log messages should be displayed. The levels are ordered from most severe to least severe. Only logs at or above the current log level will be shown.

Enumerator
ERROR	Log level for error messages. Only critical errors should be logged.
WARN	Log level for warning messages. Indicate potential issues that are not critical.
INFO	Log level for informational messages. General runtime information about the system's state.
DEBUG	Log level for debug messages. Used for detailed information, mainly for developers.

StateStatus

enum class yasmin::StateStatus

strong

Enumeration representing the current status of a state.

Enumerator
IDLE	State is idle and ready to execute.
RUNNING	State is currently executing.
CANCELED	State execution has been canceled.
COMPLETED	State execution has completed successfully.

Function Documentation

blackboard_key_info_from_pyobject()

BlackboardKeyInfo yasmin::blackboard_key_info_from_pyobject ( const std::string & key_name, py::object value )

inline

Create a BlackboardKeyInfo from a Python object default value.

The conversion rules mirror the BlackboardPyWrapper so metadata created from Python states uses the same native storage types as values written to the runtime blackboard.

blackboard_key_info_get_py_default()

py::object yasmin::blackboard_key_info_get_py_default ( const BlackboardKeyInfo & info )

inline

Convert a BlackboardKeyInfo default value back to a Python object.

Exact type matching is used so container metadata remains unambiguous when scalar and container types share substrings such as int and std::vector<int>.

default_log_message()

void yasmin::default_log_message	(	LogLevel	level,
		const char *	file,
		const char *	function,
		int	line,
		const char *	text )

Default logging function.

Parameters

level	The log level as a string (e.g., "ERROR", "WARN", "INFO", "DEBUG").
file	The source file where the log function is called.
function	The function where the log function is called.
line	The line number in the source file.
text	The format string for the log message.

demangle_type()

std::string yasmin::demangle_type ( const std::string & mangled_name )

inline

Demangle a C++ type name to a human-readable format.

Parameters

mangled_name

The mangled type name.

Returns

The demangled type name.

extract_filename()

const char * yasmin::extract_filename ( const char * path )

inline

Extracts the filename from a given file path.

This function takes a full path to a file and returns just the file name.

Parameters

path	The full path to the file.

Returns

A pointer to the extracted filename.

log_helper()

template<yasmin::LogLevel LEVEL>

void yasmin::log_helper	(	const char *	file,
		const char *	function,
		int	line,
		const char *	text,
			... )

Variadic template function to log messages at different levels.

This function wraps log_message and allows logging messages with different log levels while reducing redundant code. It provides a consistent logging format across all levels.

Template Parameters

LEVEL

The log level LogLevel (e.g., 0 -> "ERROR", 1 -> "WARN", 2 -> "INFO", 3 -> "DEBUG").

Parameters

file	The source file where the log function is called.
function	The function where the log function is called.
line	The line number in the source file.
text	The format string for the log message.
...	Additional arguments for the format string.

log_level_to_name()

const char * yasmin::log_level_to_name

(

LogLevel

level

)

Parse LogLevel to string.

This function returns the name of a given log level.

Parameters

level

Log level.

set_default_loggers()

void yasmin::set_default_loggers

(

)

Sets the default logging function for all log levels.

This function initializes the logging function to the default implementations.

set_log_level()

void yasmin::set_log_level

(

LogLevel

new_log_level

)

Sets the log level for the logs.

This function allows the user to specify the log level error, warning, info, or debug.

Parameters

new_log_level

Log level.

set_loggers()

void yasmin::set_loggers

(

LogFunction

log_message

)

Sets custom logging functions for different log levels.

This function allows the user to specify custom logging functions for error, warning, info, and debug logs. If a null function is provided for any log level, the default logging function will be used instead.

Parameters

error	Pointer to the custom error logging function.
warn	Pointer to the custom warning logging function.
info	Pointer to the custom info logging function.
debug	Pointer to the custom debug logging function.

Variable Documentation

log_level

LogLevel yasmin::log_level = INFO

The current log level for the application.

This global variable holds the current log level, which determines the verbosity of the logs. Logs at or above this level will be displayed. The default level is set to INFO.

log_message

LogFunction yasmin::log_message = default_log_message

Pointer to the logging function.