port_drayage_plugin::PortDrayageStateMachine Class Reference

#include <port_drayage_state_machine.hpp>

Collaboration diagram for port_drayage_plugin::PortDrayageStateMachine:

Public Member Functions
	PortDrayageStateMachine (rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logger)
	Constructor the PortDrayageStateMachine. More...
void	processEvent (PortDrayageEvent event)
PortDrayageState	getState () const
	Get the current state of the state machine. More...
void	setOnSystemStartupCallback (const std::function< void()> &cb)
	Set the callback to be invoked upon transitioning out of the inactive state. More...
void	setOnReceivedNewDestinationCallback (const std::function< void()> &cb)
	Set the callback to be invoked upon transitioning into the EN_ROUTE state. More...
void	setOnArrivedAtDestinationCallback (const std::function< void()> &cb)
	Set the callback to be invoked upon transitioning into the AWAITING_DESTINATION state. More...
void	setOnDrayageCompletedCallback (const std::function< void()> &cb)
	Set the callback to be invoked upon transitioning into the inactive state. More...

Private Attributes
PortDrayageState	state_
std::function< void()>	on_system_startup_
std::function< void()>	on_received_new_destination_
std::function< void()>	on_arrived_at_destination_
std::function< void()>	on_drayage_completed_
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr	logger_

Detailed Description

\Brief An implementation of the state machine for the PortDrayagePlugin.

The state machine accepts events as inputs which drive the internal state changes. This state can be queried at any given point in time, but also each transition into a state has an associated callback which will be invoked when that state is entered.

Definition at line 71 of file port_drayage_state_machine.hpp.

Constructor & Destructor Documentation

PortDrayageStateMachine()

port_drayage_plugin::PortDrayageStateMachine::PortDrayageStateMachine ( rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr  logger )

inline

Constructor the PortDrayageStateMachine.

The system initially starts in INACTIVE state.

Definition at line 89 of file port_drayage_state_machine.hpp.

                                                                                               :
                logger_(logger),
                state_(PortDrayageState::INACTIVE) {};

Member Function Documentation

getState()

PortDrayageState port_drayage_plugin::PortDrayageStateMachine::getState

(

)

const

Get the current state of the state machine.

Returns

The current state value

Definition at line 59 of file port_drayage_state_machine.cpp.

                                                             {
        return state_;
    }

References state_.

Referenced by port_drayage_plugin::PortDrayageWorker::composeArrivalMessage(), port_drayage_plugin::PortDrayageWorker::getPortDrayageState(), port_drayage_plugin::PortDrayageWorker::onGuidanceState(), and port_drayage_plugin::PortDrayageWorker::onRouteEvent().

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processEvent()

void port_drayage_plugin::PortDrayageStateMachine::processEvent

(

PortDrayageEvent

event

)

\Brief Inform the state machine that an event has transpired.

Parameters

event

The event that took place.

Definition at line 21 of file port_drayage_state_machine.cpp.

                                                                     {
        switch (state_)
        {
            case PortDrayageState::INACTIVE:
                if (event == PortDrayageEvent::DRAYAGE_START) {
                    state_ = PortDrayageState::EN_ROUTE_TO_INITIAL_DESTINATION;
                }
                break;
            case PortDrayageState::EN_ROUTE_TO_INITIAL_DESTINATION:
                if (event == PortDrayageEvent::ARRIVED_AT_DESTINATION) {
                    if (on_arrived_at_destination_) {
                        on_arrived_at_destination_();
                    }
                    state_ = PortDrayageState::AWAITING_DIRECTION;
                }
                break;
            case PortDrayageState::EN_ROUTE_TO_RECEIVED_DESTINATION:
                if (event == PortDrayageEvent::ARRIVED_AT_DESTINATION) {
                    if (on_arrived_at_destination_) {
                        on_arrived_at_destination_();
                    }
                    state_ = PortDrayageState::AWAITING_DIRECTION;
                }
                break;
            case PortDrayageState::AWAITING_DIRECTION:
                if (event == PortDrayageEvent::RECEIVED_NEW_DESTINATION) {
                    state_ = PortDrayageState::EN_ROUTE_TO_RECEIVED_DESTINATION;
                    if (on_received_new_destination_) {
                        on_received_new_destination_();
                    }
                }
                break;
            default:
                RCLCPP_ERROR_STREAM(logger_->get_logger(), "Unhandled port drayage state: " << state_ << "!");
                throw std::invalid_argument("Unhandled port drayage state");
        }
    }

References port_drayage_plugin::ARRIVED_AT_DESTINATION, port_drayage_plugin::AWAITING_DIRECTION, port_drayage_plugin::DRAYAGE_START, port_drayage_plugin::EN_ROUTE_TO_INITIAL_DESTINATION, port_drayage_plugin::EN_ROUTE_TO_RECEIVED_DESTINATION, port_drayage_plugin::INACTIVE, logger_, on_arrived_at_destination_, on_received_new_destination_, port_drayage_plugin::RECEIVED_NEW_DESTINATION, and state_.

Referenced by port_drayage_plugin::PortDrayageWorker::onGuidanceState(), port_drayage_plugin::PortDrayageWorker::onInboundMobilityOperation(), and port_drayage_plugin::PortDrayageWorker::onRouteEvent().

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setOnArrivedAtDestinationCallback()

void port_drayage_plugin::PortDrayageStateMachine::setOnArrivedAtDestinationCallback

(

const std::function< void()> &

cb

)

Set the callback to be invoked upon transitioning into the AWAITING_DESTINATION state.

Parameters

cb	The std::function callback object

Definition at line 71 of file port_drayage_state_machine.cpp.

                                                                                                 {
        on_arrived_at_destination_ = cb;
    }

References on_arrived_at_destination_.

Referenced by port_drayage_plugin::PortDrayageWorker::PortDrayageWorker().

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setOnDrayageCompletedCallback()

void port_drayage_plugin::PortDrayageStateMachine::setOnDrayageCompletedCallback

(

const std::function< void()> &

cb

)

Set the callback to be invoked upon transitioning into the inactive state.

Parameters

cb	The std::function callback object

Definition at line 75 of file port_drayage_state_machine.cpp.

                                                                                             {
        on_drayage_completed_ = cb;
    }

References on_drayage_completed_.

setOnReceivedNewDestinationCallback()

void port_drayage_plugin::PortDrayageStateMachine::setOnReceivedNewDestinationCallback

(

const std::function< void()> &

cb

)

Set the callback to be invoked upon transitioning into the EN_ROUTE state.

Parameters

cb	The std::function callback object

Definition at line 67 of file port_drayage_state_machine.cpp.

                                                                                                   {
        on_received_new_destination_ = cb;
    }

References on_received_new_destination_.

Referenced by port_drayage_plugin::PortDrayageWorker::PortDrayageWorker().

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setOnSystemStartupCallback()

void port_drayage_plugin::PortDrayageStateMachine::setOnSystemStartupCallback

(

const std::function< void()> &

cb

)

Set the callback to be invoked upon transitioning out of the inactive state.

Parameters

cb	The std::function callback object

Definition at line 63 of file port_drayage_state_machine.cpp.

                                                                                          {
        on_system_startup_ = cb;
    }

References on_system_startup_.

Member Data Documentation

logger_

rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr port_drayage_plugin::PortDrayageStateMachine::logger_

private

Definition at line 81 of file port_drayage_state_machine.hpp.

Referenced by processEvent().

on_arrived_at_destination_

std::function<void()> port_drayage_plugin::PortDrayageStateMachine::on_arrived_at_destination_

private

Definition at line 77 of file port_drayage_state_machine.hpp.

Referenced by processEvent(), and setOnArrivedAtDestinationCallback().

on_drayage_completed_

std::function<void()> port_drayage_plugin::PortDrayageStateMachine::on_drayage_completed_

private

Definition at line 78 of file port_drayage_state_machine.hpp.

Referenced by setOnDrayageCompletedCallback().

on_received_new_destination_

std::function<void()> port_drayage_plugin::PortDrayageStateMachine::on_received_new_destination_

private

Definition at line 76 of file port_drayage_state_machine.hpp.

Referenced by processEvent(), and setOnReceivedNewDestinationCallback().

on_system_startup_

std::function<void()> port_drayage_plugin::PortDrayageStateMachine::on_system_startup_

private

Definition at line 75 of file port_drayage_state_machine.hpp.

Referenced by setOnSystemStartupCallback().

state_

PortDrayageState port_drayage_plugin::PortDrayageStateMachine::state_

private

Definition at line 74 of file port_drayage_state_machine.hpp.

Referenced by getState(), and processEvent().

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

• port_drayage_plugin/include/port_drayage_plugin/port_drayage_state_machine.hpp
• port_drayage_plugin/src/port_drayage_state_machine.cpp