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5c87019 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 | // Copyright (c) 2025, Unitree Robotics Co., Ltd.
// All rights reserved.
#pragma once
#include <boost/bimap.hpp>
#include <string>
#include <any>
#include <utility>
inline boost::bimap<int, std::string> FSMStringMap;
class BaseState
{
public:
BaseState(int state, std::string state_string) : state_(state)
{
FSMStringMap.insert({state, state_string});
}
virtual void enter() {}
virtual void pre_run() {}
virtual void run() {}
virtual void post_run() {}
virtual void exit() {}
std::string getStateString() { return FSMStringMap.left.at(state_); }
int getState() {return state_; }
bool isState(int state) { return state_ == state; }
std::vector<std::pair<std::function<bool()>, int>> registered_checks;
private:
int state_;
};
using FsmFactory = std::function<std::shared_ptr<BaseState>(int, std::string)>;
using FsmMap = std::unordered_map<std::string, FsmFactory>;
inline FsmMap& getFsmMap() {
static FsmMap fsmMap;
return fsmMap;
}
#define REGISTER_FSM(Derived) \
inline std::shared_ptr<BaseState> __factory_##Derived(int s, std::string ss) { \
return std::make_shared<Derived>(s, ss); \
} \
inline struct __registrar_##Derived { \
__registrar_##Derived() { \
getFsmMap()[#Derived] = __factory_##Derived; \
} \
} __registrar_instance_##Derived; \
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