FSM.h

Go to the documentation of this file.

/*

License

Menge
Copyright © and trademark ™ 2012-14 University of North Carolina at Chapel Hill. 
All rights reserved.

Permission to use, copy, modify, and distribute this software and its documentation 
for educational, research, and non-profit purposes, without fee, and without a 
written agreement is hereby granted, provided that the above copyright notice, 
this paragraph, and the following four paragraphs appear in all copies.

This software program and documentation are copyrighted by the University of North 
Carolina at Chapel Hill. The software program and documentation are supplied "as is," 
without any accompanying services from the University of North Carolina at Chapel 
Hill or the authors. The University of North Carolina at Chapel Hill and the 
authors do not warrant that the operation of the program will be uninterrupted 
or error-free. The end-user understands that the program was developed for research 
purposes and is advised not to rely exclusively on the program for any reason.

IN NO EVENT SHALL THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL OR THE AUTHORS 
BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL 
DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS 
DOCUMENTATION, EVEN IF THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL OR THE 
AUTHORS HAVE BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL AND THE AUTHORS SPECIFICALLY 
DISCLAIM ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES 
OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE AND ANY STATUTORY WARRANTY 
OF NON-INFRINGEMENT. THE SOFTWARE PROVIDED HEREUNDER IS ON AN "AS IS" BASIS, AND 
THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL AND THE AUTHORS HAVE NO OBLIGATIONS 
TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.

Any questions or comments should be sent to the authors {menge,geom}@cs.unc.edu

*/

#ifndef __FSM_H__
#define __FSM_H__

// Finite-state machine used to compute preferred velocity
//  according to varying conditions

#include "fsmCommon.h"
#include "FSMDescrip.h"
#include "MengeException.h"

#include <vector>
#include <cassert>
#include <map>
#ifndef _MSC_VER
#include <string.h>
#endif


namespace Menge {
    // forward declaration
    namespace Agents {
        class SimulatorInterface;
        class BaseAgent;
    }

    namespace BFSM {

        // Forward declaration
        class FsmContext;
        class State;
        class Transition;
        class Goal;
        class GoalSet;
        class Task;
        class FSMDescrip;

        
        class FSMException : public virtual MengeException {
        public:
            FSMException() : MengeException() {}        

            FSMException( const std::string & s ): MengeException(s) {}
        };

        
        class FSMFatalException : public FSMException, public MengeFatalException {
        public:
            FSMFatalException() : MengeException(), FSMException(), MengeFatalException() {}

            FSMFatalException( const std::string & s ): MengeException(s), FSMException(), MengeFatalException() {}
        };

        
        class FSM {
        public:
            FSM( Agents::SimulatorInterface * sim );

            ~FSM();

            void collectTasks();

            void addTask( Task * task );

            void setAgentCount( size_t count );

            void advance( Agents::BaseAgent * agent );

            void computePrefVelocity( Agents::BaseAgent * agent );

            State * getNode( size_t id ) { return _nodes[id]; }

            State * getNode( const std::string & name );

            size_t getNodeCount() const { return _nodes.size(); }

            size_t addNode( State * node );

            bool addTransition( size_t fromNode, Transition * t );

            bool addGoal( size_t goalSet, size_t goalID, Goal * goal );

            const Goal * getGoal( size_t goalSet, size_t goalID );

            const GoalSet * getGoalSet( size_t goalSetID );

            bool doStep();

            void setCurrentState( Agents::BaseAgent * agt, size_t currNode );

            State * getCurrentState( const Agents::BaseAgent * agt ) const;

            size_t getAgentStateID( const Agents::BaseAgent * agent ) const;
            
            size_t getAgentStateID( size_t agentID ) const;

            bool allFinal() const;

            inline const Agents::SimulatorInterface * getSimulator() const { return _sim; }

            void doTasks();

            size_t getTaskCount() const { return _tasks.size(); }
            
            void finalize();

            FsmContext * getContext();

            std::map< size_t, GoalSet * > & getGoalSets() { return _goalSets; }

            friend FSM * buildFSM( FSMDescrip & fsmDescrip, Agents::SimulatorInterface * sim, bool VERBOSE );

            void addVelModifier( VelModifier * v ) { _velModifiers.push_back( v ); }

        protected:
            Agents::SimulatorInterface  * _sim;

            size_t _agtCount;

            State ** _currNode;

            std::vector< State * >  _nodes;

            std::vector< Task * > _tasks;

            std::map< size_t, GoalSet * >   _goalSets;

            std::vector< VelModifier * >    _velModifiers;

        };

        
         FSM * buildFSM( FSMDescrip & fsmDescrip, Agents::SimulatorInterface * sim, bool VERBOSE=false );

    }   // namespace BFSM
} // namespace Menge
#endif  // __FSM_H__