fsm.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_MANAGER_FSM
#define YARP_MANAGER_FSM
 
#include <iostream>
#include <string>
#include <typeinfo>
#include <exception>
#include <map>
 
#include <yarp/os/Semaphore.h>
 
namespace FSM {
    class Event;
    class IEventSink;
    class StateBase;
    class StateMachineBase;
}
 
class FSM::Event
{
public:
    Event(const char* szName) {
        if(szName) { strName = szName; }
        timeStamp = 0;
    }
    virtual ~Event() = default;
 
    void setTimeStamp(double t) { timeStamp = t; }
    double getTimeStamp() { return timeStamp; }
    const char* getName() { return strName.c_str(); }
 
    inline bool operator==(const Event& alt) const {
        return ((strName == alt.strName)); }
 
private:
    std::string strName;
    double timeStamp;
};
 
 
 
class FSM::IEventSink
{
public:
 
    IEventSink() = default;
    virtual ~IEventSink() = default;
 
  virtual void castEvent (Event* event) = 0;
 
private:
 
 
};
 
 
class FSM::StateBase
{
public:
    StateBase(IEventSink* pEventSink, const char* szName = nullptr) {
        eventSink = pEventSink;
        if(szName) { strName = szName; }
    }
 
    virtual ~StateBase() = default;
 
    const char* getName() {
        return strName.c_str(); }
 
protected:
    void castEvent(Event* event) {
        eventSink->castEvent(event);
    }
 
private:
    IEventSink* eventSink;
    std::string strName;
};
 
typedef std::map<FSM::StateBase*, std::map<FSM::Event*, FSM::StateBase*> > MyStateMap;
typedef std::map<FSM::StateBase*, std::map<FSM::Event*, FSM::StateBase*> >::iterator MyStateItr;
 
 
class FSM::StateMachineBase : public IEventSink
{
public:
    StateMachineBase() {
        state = nullptr;
        currentTimeStamp = 0.0;
    }
    ~StateMachineBase() override = default;
 
    StateBase* currentState() {
        try
        {
    //        typeid(*state);
            return state;
        }
        catch (std::exception& )
        {
            std::cerr<<"Exception in currentState(): Initial state is not set!"<<std::endl;
            std::terminate();
        }
    }
 
    void setInitState(StateBase* pState) {
        if(!state) { state = pState; }
    }
 
    void addTransition(StateBase* source, Event* event, StateBase* target) {
        try
        {
//             typeid(*target);
            transitions[source][event] = target;
        }
        catch (std::exception& typevar)
        {
            std::cerr<<"Exception in addTransition(): "<<typevar.what()<<std::endl;
            std::terminate();
        }
    }
 
protected:
 
    virtual void onTransition(StateBase* previous, Event* event, StateBase* current) {}
    virtual void onEventMissed(StateBase* state, Event* event) {}
 
public: // implementing IEventSink::castEvent()
 
    void castEvent(Event* event) override
    {
        semEvent.wait();
        if(!state)
        {
            std::cerr<<"Initial state is not set!"<<std::endl;
            semEvent.post();
            return;
        }
 
        if(event->getTimeStamp() < currentTimeStamp )
        {
            onEventMissed(state, event);
            semEvent.post();
            return;
        }
 
        currentTimeStamp = event->getTimeStamp();
 
        MyStateItr it;
        it = transitions.find(state);
        if(it==transitions.end())
        {
            std::cerr<<"No transition is registered from state "<<state->getName()<<std::endl;
            semEvent.post();
            return;
        }
 
        std::map<Event*, StateBase*> row = transitions[state];
        std::map<Event*, StateBase*>::iterator itr2 = row.find(event);
        if(itr2 == row.end())
        {
            std::cerr<<"No transition is registered for event ";
            std::cerr<<event->getName()<<" ("<<event->getTimeStamp()<<")";
            std::cerr<<" from state "<<state->getName()<<std::endl;
            semEvent.post();
            return;
        }
 
        StateBase* previous = state;
        state = row[event];
 
        // calling callback
        onTransition(previous, event, state);
        semEvent.post();
    }
 
private:
    StateBase* state;
    MyStateMap transitions;
    yarp::os::Semaphore semEvent;
    double currentTimeStamp;
 
};
 
 
#endif // __YARP_MANAGER_FSM__