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| #pragma once |
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| #include <boost/bimap.hpp> |
| #include <string> |
| #include <any> |
| #include <utility> |
|
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| 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() {} |
|
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| virtual void pre_run() {} |
| virtual void run() {} |
| virtual void post_run() {} |
|
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| virtual void exit() {} |
|
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| 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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