Homepage | Demos | Overview | Downloads | Dev. Resources | Reference | Credits |
StateNode.hGo to the documentation of this file.00001 //-*-c++-*- 00002 #ifndef INCLUDED_StateNode_h_ 00003 #define INCLUDED_StateNode_h_ 00004 00005 #include "Transition.h" 00006 #include "Behaviors/BehaviorBase.h" 00007 #include <vector> 00008 #include <string> 00009 00010 //! Recursive data structure - both a state machine controller as well as a node within a state machine itself 00011 /*! Override setup() to setup your own Transition and StateNode network. 00012 * There are two StateNode templates in <a href="http://cvs.tekkotsu.org/cgi-bin/viewcvs.cgi/Tekkotsu/project/templates/"><i>project</i><tt>/templates/</tt></a>: <a href="http://cvs.tekkotsu.org/cgi-bin/viewcvs.cgi/Tekkotsu/project/templates/statenode.h?rev=HEAD&content-type=text/vnd.viewcvs-markup">statenode.h</a> and <a href="http://cvs.tekkotsu.org/cgi-bin/viewcvs.cgi/Tekkotsu/project/templates/statemachine.h?rev=HEAD&content-type=text/vnd.viewcvs-markup">statemachine.h</a>. 00013 * statenode.h is meant for leaf nodes, which directly implement the execution of a task. 00014 * statemachine.h is meant for nodes which contain a network of transitions and subnodes, which together solve the task. 00015 */ 00016 class StateNode : public BehaviorBase { 00017 public: 00018 //!constructor, pass a name to use 00019 StateNode(const std::string& name) : BehaviorBase("StateNode",name), parent(NULL), transitions(), issetup(false), retain(true), startedTime(0), nodes() {} 00020 00021 //!destructor, removes references to its outgoing transitions (be careful of incoming ones - they're still around!), and calls RemoveReference() on subnodes 00022 virtual ~StateNode(); 00023 00024 //!Adds the specified StateTransition to the transition table 00025 virtual Transition* addTransition(Transition* trans); 00026 00027 //!Returns the std::vector of transitions so you can modify them yourself if need be 00028 std::vector<Transition*>& getTransitions() { return transitions; } 00029 00030 //!Returns the const std::vector of transitions so you can read through them if need be 00031 const std::vector<Transition*>& getTransitions() const { return transitions; } 00032 00033 //!Adds a StateNode to #nodes so it can be automatically dereferenced later, returns what it's passed (for convenience), calls AddReference() on @a node. Also sets the node's parent to @c this if it is null. 00034 virtual StateNode* addNode(StateNode* node); 00035 00036 //!Returns the std::vector of sub-nodes so you can modify them yourself if need be 00037 std::vector<StateNode*>& getNodes() { return nodes; } 00038 00039 //!Returns the const std::vector of sub-nodes so you can read through them if need be 00040 const std::vector<StateNode*>& getNodes() const { return nodes; } 00041 00042 //!Sets the retain flag - if not retained, will RemoveReference() subnodes upon DoStop() and recreate them on DoStart (by calling setup()) - may be too expensive to be worth saving memory... 00043 void setRetain(bool f) { retain=f; } 00044 00045 //!Transitions should call this when you are entering the state, so it can enable its transitions 00046 virtual void DoStart(); 00047 00048 //!This is called by DoStart() when you should setup the network of subnodes (if any) 00049 virtual void setup() {issetup=true;} 00050 00051 //!Transitions should call this when you are leaving the state, so it can disable its transitions 00052 virtual void DoStop(); 00053 00054 //!This is called by DoStop() when you should destruct subnodes 00055 /*!Default implementation will take care of the subnodes and their 00056 * transitions, you only need to worry about any *other* memory 00057 * which may have been allocated. If none, you may not need 00058 * implement this function at all. */ 00059 virtual void teardown(); 00060 00061 //!returns #parent 00062 virtual StateNode* getParent() const { return parent; } 00063 00064 protected: 00065 //!constructor, pass the class name and instance name to use 00066 StateNode(const std::string& classname, const std::string& name) : BehaviorBase(classname,name), parent(NULL), transitions(), issetup(false), retain(true), startedTime(0), nodes() {} 00067 00068 //!will throw an activation event through stateMachineEGID, used when DoStart() is called 00069 virtual void postStartEvent(); 00070 00071 //!will throw a status event through stateMachineEGID to signal "completion" of the node 00072 /*! "completion" is defined by your subclass - will mean different things to different 00073 * nodes depending on the actions they are performing. So call this yourself if there 00074 * is a natural ending point for your state. 00075 * @param magnitude the value to use for EventBase::magnitude -- generally is 1 for status events, but since this is to signal completion, 0 (the default) may be more appropriate; if your node is doing something repetitive however, 1 (or the loop count) may be better */ 00076 virtual void postCompletionEvent(float magnitude=0); 00077 00078 //!will throw an deactivation event through stateMachineEGID, used when DoStop() is called 00079 /* @param duration the value to use for EventBase::duration -- nice but not generally used */ 00080 virtual void postStopEvent(); 00081 00082 //Node Stuff: 00083 //! pointer to the machine that contains this node 00084 StateNode* parent; 00085 //! a vector of outgoing transitions 00086 std::vector<Transition*> transitions; 00087 00088 //Machine Stuff: 00089 //! this is set to true if the network has been setup but not destroyed (i.e. don't need to call setupSubNodes again) 00090 bool issetup; 00091 //! this is set to true if the network should be retained between activations. Otherwise it's dereferenced upon DoStop(). (or at least RemoveReference() is called on subnodes) 00092 bool retain; 00093 //! the timestamp of last call to DoStart() 00094 unsigned int startedTime; 00095 //! vector of StateNodes, just so they can be dereferenced again on DoStop() (unless retained) or ~StateNode() 00096 std::vector<StateNode*> nodes; 00097 00098 private: 00099 StateNode(const StateNode& node); //!< don't call this 00100 StateNode operator=(const StateNode& node); //!< don't call this 00101 }; 00102 00103 /*! @file 00104 * @brief Describes StateNode, which is both a state machine controller as well as a node within a state machine itself 00105 * @author ejt (Creator) 00106 * 00107 * $Author: ejt $ 00108 * $Name: tekkotsu-2_4_1 $ 00109 * $Revision: 1.20 $ 00110 * $State: Exp $ 00111 * $Date: 2005/08/07 04:11:02 $ 00112 */ 00113 00114 #endif |
Tekkotsu v2.4.1 |
Generated Tue Aug 16 16:32:49 2005 by Doxygen 1.4.4 |