src/robofsm/timedFSM.h

   1 #include <boost/statechart/state_machine.hpp>
   2 #include "timerlist.h"
   3 #include <boost/statechart/event_base.hpp>
   4 #include <boost/statechart/state.hpp>
   5 #include <iostream>
   6 #include "events.h"
   7
   8
   9 namespace sc = boost::statechart;
  10 namespace mpl = boost::mpl;
  11
  12 template< class MostDerived,
  13           class Context,
  14           class Inner = boost::mpl::list<> >
  15 struct TimedState : boost::statechart::state<MostDerived, Context, Inner>
  16 {
  17 protected:
  18   typedef TimedState base_state;
  19   typedef typename boost::statechart::state<MostDerived, Context, Inner> base_type;
  20   #define global_timer_list     base_type::outermost_context().my_handle()->timer_list_.timeouts
  21 public:
  22         std::list<Timer *> active_timers;
  23         TimedState(typename base_type::my_context ctx ) : base_type( ctx ) {
  24 //              std::cout<<typeid(MostDerived).name()<<" global"<<std::endl;
  25         }
  26         ~TimedState(){
  27                 if(global_timer_list.size()>0 && active_timers.size()>0)
  28                 {
  29                         std::list<Timer *>::iterator it;
  30                         for(it = active_timers.begin(); it!= active_timers.end(); it++)
  31                         {
  32                                 global_timer_list.remove(*it);
  33                         }
  34                         //std::cout<<"delka "<<global_timer_list.size()<<std::endl;
  35                 }
  36         }
  37         void runTimer(Timer &t, long int milisec, const  boost::intrusive_ptr< boost::statechart::event_base > &e)
  38         {
  39                 base_type::outermost_context().my_handle()->timer_list_.addTimer(t, milisec, e);
  40                 active_timers.push_back(&t);
  41         }
  42         void stopTimer(Timer &t) {
  43                 active_timers.remove(&t);
  44                 std::cout<<"pred "<<global_timer_list.size()<<std::endl;
  45                 global_timer_list.remove(&t);
  46                 std::cout<<"po "<<global_timer_list.size()<<std::endl;
  47         }
  48 };
  49
  50 template< class MostDerived,
  51           class Context,
  52           class Inner = boost::mpl::list<> >
  53 struct TimedSimpleState : boost::statechart::simple_state<MostDerived, Context, Inner>
  54 {
  55 protected:
  56   typedef TimedSimpleState base_state;
  57   typedef typename boost::statechart::simple_state<MostDerived, Context, Inner> base_type;
  58   #define global_timer_list     base_type::outermost_context().my_handle()->timer_list_.timeouts
  59 public:
  60         std::list<Timer *> active_timers;
  61         TimedSimpleState() {
  62 //              std::cout<<typeid(MostDerived).name()<<" global"<<std::endl;
  63         }
  64         ~TimedSimpleState(){
  65                 if(global_timer_list.size()>0 && active_timers.size()>0)
  66                 {
  67                         std::list<Timer *>::iterator it;
  68                         for(it = active_timers.begin(); it!= active_timers.end(); it++)
  69                         {
  70                                 global_timer_list.remove(*it);
  71                         }
  72                         //std::cout<<"delka "<<global_timer_list.size()<<std::endl;
  73                 }
  74         }
  75         void runTimer(Timer &t, long int milisec, const  boost::intrusive_ptr< boost::statechart::event_base > &e)
  76         {
  77                 base_type::outermost_context().my_handle()->timer_list_.addTimer(t, milisec, e);
  78                 active_timers.push_back(&t);
  79         }
  80         void stopTimer(Timer &t) {
  81                 active_timers.remove(&t);
  82                 std::cout<<"pred "<<global_timer_list.size()<<std::endl;
  83                 global_timer_list.remove(&t);
  84                 std::cout<<"po "<<global_timer_list.size()<<std::endl;
  85         }
  86 };