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 #include <scheduler.hpp>
   8
   9
  10 namespace sc = boost::statechart;
  11 namespace mpl = boost::mpl;
  12
  13 template< class MostDerived,
  14           class Context,
  15           class Inner = boost::mpl::list<> >
  16 struct TimedState : boost::statechart::state<MostDerived, Context, Inner>
  17 {
  18     private:
  19         std::list<Timer *> active_timers;
  20         typedef typename boost::statechart::state<MostDerived, Context, Inner> base_type;
  21         Scheduler::processor_handle handle_;
  22     protected:
  23         typedef TimedState base_state;
  24     public:
  25         TimedState(typename base_type::my_context ctx ) : base_type( ctx ) {
  26                 handle_ = base_type::outermost_context().my_handle();
  27         }
  28         ~TimedState() {
  29                 if(handle_->timer_list_.timeouts.size()>0 && active_timers.size()>0)
  30                 {
  31                         std::list<Timer *>::iterator it;
  32                         for(it = active_timers.begin(); it!= active_timers.end(); it++)
  33                                 handle_->timer_list_.timeouts.remove(*it);
  34                 }
  35         }
  36         void runTimer(Timer &t, long int milisec, const  boost::intrusive_ptr< boost::statechart::event_base > &e) {
  37                 handle_->timer_list_.addTimer(t, milisec, e);
  38                 active_timers.push_back(&t);
  39         }
  40         void stopTimer(Timer &t) {
  41                 active_timers.remove(&t);
  42                 handle_->timer_list_.timeouts.remove(&t);
  43         }
  44 };
  45
  46 template< class MostDerived,
  47           class Context,
  48           class Inner = boost::mpl::list<> >
  49 struct TimedSimpleState : boost::statechart::simple_state<MostDerived, Context, Inner>
  50 {
  51     private:
  52         std::list<Timer *> active_timers;
  53         typedef typename boost::statechart::simple_state<MostDerived, Context, Inner> base_type;
  54         Scheduler::processor_handle handle_;
  55     protected:
  56         typedef TimedSimpleState base_state;
  57     public:
  58         TimedSimpleState() {
  59                 handle_ = base_type::outermost_context().my_handle();
  60         }
  61         ~TimedSimpleState() {
  62                 if(handle_->timer_list_.timeouts.size()>0 && active_timers.size()>0)
  63                 {
  64                         std::list<Timer *>::iterator it;
  65                         for(it = active_timers.begin(); it!= active_timers.end(); it++)
  66                                 handle_->timer_list_.timeouts.remove(*it);
  67                 }
  68         }
  69         void runTimer(Timer &t, long int milisec, const  boost::intrusive_ptr< boost::statechart::event_base > &e) {
  70                 handle_->timer_list_.addTimer(t, milisec, e);
  71                 active_timers.push_back(&t);
  72         }
  73         void stopTimer(Timer &t) {
  74                 active_timers.remove(&t);
  75                 handle_->timer_list_.timeouts.remove(&t);
  76         }
  77 };