Class FSM

Class FSM#

Inheritance Relationships#

Base Type#

Class Documentation#

class FSM : public Karana::Core::LockingBase#

A class to implement finite state machines.

The finite state machine is implemented as a graph that connects FSMStates with FSMTransitions.

Public Functions

const kc::ks_ptr<FSMState> &getCurrentState() const#

Get the current state.

Returns:

The current FSMState.

void setCurrentState(std::string_view name)#

Set the current state of this FSM to the state with the provided name.

Parameters:

name – The name of the state to set the FSM to.

void setCurrentState(const Karana::Core::ks_ptr<FSMState> &state)#

Set the current state of this FSM to the provided state.

Parameters:

state – The state to set the FSM to.

const kc::ks_ptr<FSMState> &getState(std::string_view name) const#

Get the state with the provided name.

Parameters:

name – The name of the state to retrieve.

Returns:

The FSMState with the provided name.

const kc::ks_ptr<FSMTransition> &getTransition(std::string_view parent_state, std::string_view child_state)#

Get the transition that connects the two states with the provided names.

Parameters:

  • parent_state – The name of the parent of the edge.

  • child_state – The name of the child of the edge.

Returns:

The transition that connects the parent and child states with the names provided.

std::vector<kc::ks_ptr<FSMState>> getStates() const#

Get a list of all the FSMStates in this FSM.

Returns:

A list of all the FSMStates in this FSM.

void update()#

Update the FSM.

This updates the current state using the should_transition_fns of the FSMTransitions for the current state.

bool getTraceFSM()#

Get whether this FSM is printing trace messages or not.

Returns:

true if trace messages are being printed, false otherwise.

void setTraceFSM(bool trace_fsm)#

Set whether this FSM prints trace messages or not.

Parameters:

trace_fsm – true to set the FSM to print trace messages, false to stop printing trace messages.

virtual std::string dumpString(std::string_view prefix = "", const Karana::Core::Base::DumpOptions *options = nullptr) const override#

Return information about the object.

Parameters:

  • prefix – A string to use as prefix for each output line

  • options – Struct with options to tailor the output

Returns:

String with the information about the object.

Public Members

Karana::Core::CallbackRegistry<void, const kc::ks_ptr<FSMTransition>&> on_state_transition_fns#

These functions will run whenever we transition to a new state.

Public Static Functions

static Karana::Core::ks_ptr<FSM> create(std::string_view name)#

Create a new instance of FSM.

Parameters:

name – The name of the FSM.

Returns:

A pointer to the newly created instance of FSM.

Protected Functions

virtual void _discard(Karana::Core::ks_ptr<Karana::Core::Base> &base) override#

Discard the the object. Derived classes should implement this with the logic required to discard themselves if applicable.

Parameters:

base – - A pointer to the object to discard.

virtual void _makeHealthy() override#

Derived classes override this to define how to make themselves healthy.

virtual Karana::Core::ks_ptr<Karana::Core::BaseVars> _getVars() const override#

Create the vars for this object.

Returns:

The vars for this object.

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