Advanced Plans

Plans

1. Plans are sequences of transitions.

2. Plans are attached to regions.

3. Planned transitions link origin and destination states.

4. Planned transitions can have payloads.

5. Planned transitions are triggered when origin state succeeds.

Tests

• test_plans
• test_plans_payloads
• test_plans_verbose

Feature Macros

1. Enable plan support

   #define HFSM2_ENABLE_PLANS
   #include <hfsm2/machine.hpp>

Instance Configuration

1. Set maximum number of tasks across all plans of the FSM instance

   using Config = hfsm2::Config
                       ::TaskCapacityN<N>;
   
   using M = hfsm2::MachineT<Config>;

Control Methods

Method	Description
CPlan PlanControl::plan() const; Plan PlanControl::plan();	Access constant plan Access mutable plan
void PlanControl::succeed(); void PlanControl::fail();	Called when all [Plans](../wiki/Advanced-Plans) tasks succeeded Called when all plan tasks failed

Plan Methods

Method	Description
operator CPlan::bool() const;	Check if plan isn't empty
CIterator CPlan::first() const; Iterator Plan::first();	Range-based for loop iteration over plan tasks
void Plan::clear();	Clear plan
bool Plan::change(const StateID, const StateID); bool Plan::change<TOrigin>(const StateID); bool Plan::change<TOrigin, TDestination>();	Append a default transition to the plan
bool Plan::changeWith(const StateID, const StateID, const Payload&); bool Plan::changeWith<TOrigin>(const StateID, const Payload&); bool Plan::changeWith<TOrigin, TDestination>(const Payload&);	Append a default transition with const payload
bool Plan::changeWith(const StateID, const StateID, Payload&&); bool Plan::changeWith<TOrigin>(const StateID, Payload&&); bool Plan::changeWith<TOrigin, TDestination>(Payload&&);	Append a default transition with moved payload