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Added onStateChanged() callback #17

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Added onStateChanged() callback #17

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9 changes: 9 additions & 0 deletions include/hsmcpp/hsm.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -437,6 +437,15 @@ class HierarchicalStateMachine {
*/
bool isStateActive(const StateID_t state) const;

/**
* @brief Called whenever a change state occurs.
* @details Overwrite this function to get informed when a new state is activated.
*
* @param state ID of the new state
*
*/
virtual void onStateChanged(const StateID_t state) const { }

/**
* @brief Trigger a transition in the HSM.
* @details This function sends event to HSM to trigger a potential transition. The transition is executed asynchronously,
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2 changes: 2 additions & 0 deletions src/HsmImpl.cpp
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Expand Up @@ -720,6 +720,8 @@ void HierarchicalStateMachine::Impl::onStateChanged(const StateID_t state, const
} else {
HSM_TRACE_WARNING("no callback registered for state <%s>", getStateName(state).c_str());
}
// notify parent
if (mParent) mParent->onStateChanged(state);
}

void HierarchicalStateMachine::Impl::executeStateAction(const StateID_t state, const StateActionTrigger actionTrigger) {
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