stateMachineEngine.hpp

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#ifndef RTCTK_COMPONENTFRAMEWORK_STATEMACHINEENGINE_HPP
#define RTCTK_COMPONENTFRAMEWORK_STATEMACHINEENGINE_HPP
 
#include "rtctk/componentFramework/stopToken.hpp"
#include <rad/smAdapter.hpp>
#include <rad/signal.hpp>
 
namespace rtctk::componentFramework {
 
using ActionMethod = std::function<void(scxml4cpp::Context* c)>;
using GuardMethod = std::function<bool(scxml4cpp::Context* c)>;
using ActivityMethod = std::function<void(StopToken f)>;
using SuccessMethod = std::function<void()>;
using FailureMethod = std::function<void(const std::runtime_error&)>;
using RejectMethod = std::function<void(const rad::AnyEvent&, const std::string& state)>;
using StateMethod = std::function<void(const std::string&)>;
 
class StateMachineEngine {
    public:
        StateMachineEngine(rad::UniqueEvent exit_event);
        ~StateMachineEngine();
 
        void RegisterModel(const std::string& scxml_filename);
        void RegisterAction(std::string const& id, ActionMethod action);
        void RegisterGuard(std::string const& id, GuardMethod guard);
        void RegisterActivity(std::string const& id, ActivityMethod activity, SuccessMethod on_success, FailureMethod on_failure);
        void RegisterRejectHandler(std::string const& id, RejectMethod reject);
        template <typename T>
        void RegisterRejectHandler() {
            m_fsm_engine.RegisterDefaultRequestRejectHandler<T>();
        }
        void RegisterStateChangeHandler(StateMethod on_statechange);
        void PostEvent(rad::SharedEvent s);
        std::string GetState();
        void Work();
        void Stop();
 
    private:
        boost::asio::io_service m_io_service;
        scxml4cpp::Context m_fsm_ctx;
        scxml4cpp::EventQueue m_event_queue;
        rad::SMAdapter m_fsm_engine;
        rad::Signal m_signal;
 
        std::string m_scxml_file_name;
        std::list<scxml4cpp::Action*> m_action_list;
        std::list<scxml4cpp::Activity*> m_activity_list;
};
 
} // closing namespace
 
#endif