DUNE::Entities::StatefulEntity Class Reference

Detailed Description

Stateful Entity class, derived from BasicEntity, and also handling QueryEntityState/EntityState.

The class also implements an entity state and activation interface.

Public Member Functions
	StatefulEntity (Tasks::AbstractTask *owner, Tasks::Context &context)
void	setBindings (Tasks::Recipient *recipient)
void	setState (IMC::EntityState::StateEnum state, Status::Code code)
void	setState (IMC::EntityState::StateEnum state, const std::string &message)
IMC::EntityState::StateEnum	getState (void) const
void	reportState (void)
void	setActTimes (uint16_t act_time, uint16_t deact_time)
void	reportActivationState (void)
bool	isActive (void) const
bool	isActivating (void) const
bool	isDeactivating (void) const
IMC::EntityActivationState::StateEnum	getActivationState (void) const
void	requestActivation (void)
void	requestDeactivation (void)
void	failActivation (const std::string &reason)
void	succeedActivation (void)
void	failDeactivation (const std::string &reason)
void	succeedDeactivation (void)
void	consume (const IMC::QueryEntityState *msg)
void	consume (const IMC::QueryEntityActivationState *msg)
bool	hasPendingActivation (void) const
bool	hasPendingDeactivation (void) const
Public Member Functions inherited from DUNE::Entities::BasicEntity
	BasicEntity (Tasks::AbstractTask *owner, Tasks::Context &context)
virtual	~BasicEntity ()
const std::string &	getLabel (void) const
void	setLabel (const std::string &label)
unsigned int	getId (void) const
void	setId (unsigned int id)
void	reportInfo (void)
bool	operator== (const std::string label) const
bool	operator== (unsigned int id) const
void	consume (const IMC::QueryEntityInfo *msg)
void	dispatch (IMC::Message *msg, unsigned int flags=0)
void	dispatch (IMC::Message &msg, unsigned int flags=0)
void	dispatchReply (const IMC::Message &original, IMC::Message &msg, unsigned int flags=0)

Additional Inherited Members
Protected Member Functions inherited from DUNE::Entities::BasicEntity
template<typename M , typename E >
void	bind (Tasks::Recipient *recipient, E *ent_obj, void(E::*consumer)(const M *)=&E::consume)
Protected Attributes inherited from DUNE::Entities::BasicEntity
Tasks::AbstractTask *	m_owner
Tasks::Context &	m_ctx
IMC::EntityInfo	m_ent_info

Constructor & Destructor Documentation

DUNE::Entities::StatefulEntity::StatefulEntity ( Tasks::AbstractTask *  owner, Tasks::Context &  context  )

inline

Constructor.

Parameters

[in]	owner	pointer to the task containing the entity.
[in]	context	entity context.

References DUNE::Status::CODE_INIT, DUNE::IMC::EntityActivationState::EAS_INACTIVE, DUNE::IMC::EntityState::ESTA_BOOT, setState(), and DUNE::IMC::EntityActivationState::state.

Member Function Documentation

void DUNE::Entities::StatefulEntity::consume

(

const IMC::QueryEntityState *

msg

)

Consume QueryEntityState messages andreply accordingly.

Parameters

[in]

msg

QueryEntityState message.

References reportState().

Referenced by getActivationState().

void DUNE::Entities::StatefulEntity::consume

(

const IMC::QueryEntityActivationState *

msg

)

Consume QueryEntityActivationState messages and replyaccordingly.

Parameters

[in]

msg

QueryEntityActivationState message.

References DUNE::IMC::Message::getDestinationEntity(), DUNE::Entities::BasicEntity::getId(), and reportActivationState().

void DUNE::Entities::StatefulEntity::failActivation

(

const std::string &

reason

)

Mark the activation as unsuccessful.

Parameters

[in]

reason

message to the user explaining why the activation failed.

References DUNE::Entities::BasicEntity::dispatch(), DUNE::IMC::EntityActivationState::EAS_ACT_FAIL, DUNE::IMC::EntityActivationState::EAS_INACTIVE, DUNE::IMC::EntityActivationState::error, and DUNE::IMC::EntityActivationState::state.

Referenced by DUNE::Tasks::Task::activationFailed(), and getActivationState().

void DUNE::Entities::StatefulEntity::failDeactivation

(

const std::string &

reason

)

Mark the deactivation as unsuccessful.

Parameters

[in]

reason

message to the user explaining why the deactivation failed.

References DUNE::Entities::BasicEntity::dispatch(), DUNE::IMC::EntityActivationState::EAS_ACTIVE, DUNE::IMC::EntityActivationState::EAS_DEACT_FAIL, DUNE::IMC::EntityActivationState::error, and DUNE::IMC::EntityActivationState::state.

Referenced by DUNE::Tasks::Task::deactivationFailed(), and getActivationState().

IMC::EntityActivationState::StateEnum DUNE::Entities::StatefulEntity::getActivationState ( void  ) const

inline

Get the current entity activation state.

Returns

current entity activation state.

References consume(), failActivation(), failDeactivation(), requestActivation(), requestDeactivation(), DUNE::IMC::EntityActivationState::state, succeedActivation(), and succeedDeactivation().

Referenced by DUNE::Tasks::Task::activate(), and DUNE::Tasks::Task::deactivate().

IMC::EntityState::StateEnum DUNE::Entities::StatefulEntity::getState ( void  ) const

inline

Retrieve the current entity state.

Returns

entity state.

References reportState(), and DUNE::IMC::EntityState::state.

Referenced by DUNE::Tasks::Task::getEntityState().

bool DUNE::Entities::StatefulEntity::hasPendingActivation ( void  ) const

inline

Check if an activation request arrived while the entity was being deactivated.

Returns

true if an activation request is pending, false otherwise.

Referenced by DUNE::Tasks::Task::deactivate().

bool DUNE::Entities::StatefulEntity::hasPendingDeactivation ( void  ) const

inline

Check if a deactivation request arrived while the entity was being activated.

Returns

true if a deactivation request is pending, false otherwise.

Referenced by DUNE::Tasks::Task::activate().

bool DUNE::Entities::StatefulEntity::isActivating ( void  ) const

inline

Test if entity is activating.

Returns

true if entity is activating, false otherwise.

References DUNE::IMC::EntityActivationState::EAS_ACT_IP, and DUNE::IMC::EntityActivationState::state.

Referenced by DUNE::Tasks::Task::isActivating(), and DUNE::Tasks::Task::requestActivation().

bool DUNE::Entities::StatefulEntity::isActive ( void  ) const

inline

Test if entity is active.

Returns

true if entity is active, false otherwise.

References DUNE::IMC::EntityActivationState::EAS_ACTIVE, and DUNE::IMC::EntityActivationState::state.

Referenced by DUNE::Tasks::Task::isActive().

bool DUNE::Entities::StatefulEntity::isDeactivating ( void  ) const

inline

Test if entity is deactivating.

Returns

true if entity is deactivating, false otherwise.

References DUNE::IMC::EntityActivationState::EAS_DEACT_IP, and DUNE::IMC::EntityActivationState::state.

Referenced by DUNE::Tasks::Task::isDeactivating(), and DUNE::Tasks::Task::requestDeactivation().

void DUNE::Entities::StatefulEntity::reportActivationState

(

void

)

Report the activation state.

References DUNE::Entities::BasicEntity::dispatch().

Referenced by consume(), setActTimes(), and DUNE::Tasks::Task::updateParameters().

void DUNE::Entities::StatefulEntity::reportState

(

void

)

Report the entity state.

References DUNE::Entities::BasicEntity::dispatch().

Referenced by consume(), getState(), and DUNE::Tasks::Task::resolveEntities().

void DUNE::Entities::StatefulEntity::requestActivation

(

void

)

Request entity activation.

References DUNE::Entities::BasicEntity::dispatch(), DUNE::IMC::EntityActivationState::EAS_ACT_FAIL, DUNE::IMC::EntityActivationState::EAS_ACT_IP, DUNE::IMC::EntityActivationState::EAS_DEACT_DONE, DUNE::IMC::EntityActivationState::EAS_DEACT_FAIL, DUNE::IMC::EntityActivationState::EAS_DEACT_IP, DUNE::IMC::EntityActivationState::EAS_INACTIVE, DUNE::Entities::BasicEntity::m_owner, DUNE::Tasks::AbstractTask::spew(), and DUNE::IMC::EntityActivationState::state.

Referenced by getActivationState(), and DUNE::Tasks::Task::requestActivation().

void DUNE::Entities::StatefulEntity::requestDeactivation

(

void

)

Request entity deactivation.

References DUNE::Entities::BasicEntity::dispatch(), DUNE::IMC::EntityActivationState::EAS_ACT_DONE, DUNE::IMC::EntityActivationState::EAS_ACT_FAIL, DUNE::IMC::EntityActivationState::EAS_ACT_IP, DUNE::IMC::EntityActivationState::EAS_ACTIVE, DUNE::IMC::EntityActivationState::EAS_DEACT_FAIL, DUNE::IMC::EntityActivationState::EAS_DEACT_IP, DUNE::Entities::BasicEntity::m_owner, DUNE::Tasks::AbstractTask::spew(), and DUNE::IMC::EntityActivationState::state.

Referenced by getActivationState(), and DUNE::Tasks::Task::requestDeactivation().

void DUNE::Entities::StatefulEntity::setActTimes ( uint16_t  act_time, uint16_t  deact_time  )

inline

Set the expected activation and deactivation times to be included in the EntityInfo message.

Parameters

[in]	act_time	expected activation time.
[in]	deact_time	expected deactivation time.

References DUNE::IMC::EntityInfo::act_time, DUNE::IMC::EntityInfo::deact_time, DUNE::Entities::BasicEntity::m_ent_info, and reportActivationState().

Referenced by DUNE::Tasks::Task::updateParameters().

void DUNE::Entities::StatefulEntity::setBindings ( Tasks::Recipient *  recipient )

inlinevirtual

Set the IMC bindings using the provided recipient object.

Parameters

[in]

recipient

pointer to the recipient object to use for binding to IMC messages.

Reimplemented from DUNE::Entities::BasicEntity.

References DUNE::Entities::BasicEntity::setBindings(), and setState().

Referenced by DUNE::Tasks::Task::reserveEntities().

void DUNE::Entities::StatefulEntity::setState	(	IMC::EntityState::StateEnum	state,
		Status::Code	code
	)

Set the entity state with a message constructed from a standard status code.

Parameters

[in]	state	state to be set.
[in]	code	status code to be used for generating a status message.

References DUNE::IMC::EntityState::description, DUNE::Entities::BasicEntity::dispatch(), DUNE::Entities::BasicEntity::getId(), DUNE::Status::getString(), and DUNE::IMC::EntityState::state.

Referenced by setBindings(), DUNE::Tasks::Task::setEntityState(), and StatefulEntity().

void DUNE::Entities::StatefulEntity::setState	(	IMC::EntityState::StateEnum	state,
		const std::string &	message
	)

Set the entity state with a user-provided message.

Parameters

[in]	state	state to be set.
[in]	message	status message to use.

References DUNE::IMC::EntityState::description, DUNE::Entities::BasicEntity::dispatch(), DUNE::Entities::BasicEntity::getId(), and DUNE::IMC::EntityState::state.

void DUNE::Entities::StatefulEntity::succeedActivation

(

void

)

Mark the activation as successful.

References DUNE::Entities::BasicEntity::dispatch(), DUNE::IMC::EntityActivationState::EAS_ACT_DONE, DUNE::IMC::EntityActivationState::EAS_ACTIVE, and DUNE::IMC::EntityActivationState::state.

Referenced by DUNE::Tasks::Task::activate(), and getActivationState().

void DUNE::Entities::StatefulEntity::succeedDeactivation

(

void

)

Mark the deactivation as successful.

References DUNE::Entities::BasicEntity::dispatch(), DUNE::IMC::EntityActivationState::EAS_DEACT_DONE, DUNE::IMC::EntityActivationState::EAS_INACTIVE, and DUNE::IMC::EntityActivationState::state.

Referenced by DUNE::Tasks::Task::deactivate(), and getActivationState().

Collaboration diagram for DUNE::Entities::StatefulEntity: