ExoTestMachine Class Reference

Example implementation of a StateMachine for the ExoRobot class. States should implemented ExoTestState. More...

#include <ExoTestMachine.h>

Inheritance diagram for ExoTestMachine:

Collaboration diagram for ExoTestMachine:

Public Member Functions
	ExoTestMachine ()
void	init ()
	start function for running any designed statemachine specific functions for example initialising robot objects. More...
void	activate ()
void	deactivate ()
void	hwStateUpdate ()
	Statemachine to hardware interface method. Run any hardware update methods that need to run every program loop update cycle. More...
State *	gettCurState ()
void	initRobot (ExoRobot *rb)
Public Member Functions inherited from StateMachine
	StateMachine (void)
	Construct a new State Machine object. More...
void	initialize (State *i)
	Sets the current state. Note: No check made. More...
State *	getCurState (void)
	Returns a pointer to the current state. More...
void	activate (void)
	Calls the entry method of the current state. More...
virtual void	update (void)
	Processes the state machine. For each possible transition, checks if that transition should be made If no, calls during() on the current state If yes, calls exit() on the current state, entry() and then during() on the new state. More...

Public Attributes
bool	running = false
bool	trajComplete
DummyTrajectoryGenerator *	trajectoryGenerator
InitState *	initState
SittingDwn *	sittingDwn
StandingUp *	standingUp
Sitting *	sitting
Standing *	standing

Protected Attributes
ExoRobot *	robot

Private Member Functions
	EventObject (EndTraj)*endTraj
	Event Objects defined using Macro defined in StateMachine.h Defines the Class itself, as well as initialises an object of that class An events check function are defined in the .cpp file. More...
	EventObject (IsAPressed)*isAPressed
	EventObject (StartButtonsPressed)*startButtonsPressed
	EventObject (StartExo)*startExo
	EventObject (StartSit)*startSit
	EventObject (StartStand)*startStand

Detailed Description

Example implementation of a StateMachine for the ExoRobot class. States should implemented ExoTestState.

Definition at line 54 of file ExoTestMachine.h.

Constructor & Destructor Documentation

ExoTestMachine::ExoTestMachine

(

)

add a tranisition object to the arch list of the first state in the NewTransition MACRO. Effectively creating a statemachine transition from State A to B in the event of event c. NewTranstion(State A,Event c, State B)

Definition at line 6 of file ExoTestMachine.cpp.

Member Function Documentation

void ExoTestMachine::activate

(

)

void ExoTestMachine::deactivate

(

)

ExoTestMachine::EventObject ( EndTraj  )

private

Event Objects defined using Macro defined in StateMachine.h Defines the Class itself, as well as initialises an object of that class An events check function are defined in the .cpp file.

ExoTestMachine::EventObject ( IsAPressed  )

private

ExoTestMachine::EventObject ( StartButtonsPressed  )

private

ExoTestMachine::EventObject ( StartExo  )

private

ExoTestMachine::EventObject ( StartSit  )

private

ExoTestMachine::EventObject ( StartStand  )

private

State* ExoTestMachine::gettCurState

(

)

void ExoTestMachine::hwStateUpdate

(

void

)

Statemachine to hardware interface method. Run any hardware update methods that need to run every program loop update cycle.

Definition at line 95 of file ExoTestMachine.cpp.

void ExoTestMachine::init

(

)

start function for running any designed statemachine specific functions for example initialising robot objects.

Definition at line 42 of file ExoTestMachine.cpp.

void ExoTestMachine::initRobot

(

ExoRobot *

rb

)

Member Data Documentation

InitState* ExoTestMachine::initState

Definition at line 69 of file ExoTestMachine.h.

ExoRobot* ExoTestMachine::robot

protected

Definition at line 76 of file ExoTestMachine.h.

bool ExoTestMachine::running = false

Definition at line 56 of file ExoTestMachine.h.

Sitting* ExoTestMachine::sitting

Definition at line 72 of file ExoTestMachine.h.

SittingDwn* ExoTestMachine::sittingDwn

Definition at line 70 of file ExoTestMachine.h.

Standing* ExoTestMachine::standing

Definition at line 73 of file ExoTestMachine.h.

StandingUp* ExoTestMachine::standingUp

Definition at line 71 of file ExoTestMachine.h.

bool ExoTestMachine::trajComplete

Definition at line 65 of file ExoTestMachine.h.

DummyTrajectoryGenerator* ExoTestMachine::trajectoryGenerator

Definition at line 66 of file ExoTestMachine.h.

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

• src/apps/stateMachine/ExoTestMachine.h
• src/apps/stateMachine/ExoTestMachine.cpp