smacc_default_events.hpp

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// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
 
#pragma once
 
#include <smacc2/smacc_types.hpp>
 
#include <boost/statechart/event.hpp>
#include <boost/statechart/state.hpp>
 
namespace smacc2
{
// template <typename T>
// using  event=sc::event<T>;
 
namespace default_events
{
using namespace smacc2::introspection;
using namespace smacc2::default_transition_tags;
 
//-------------- ACTION EVENTS --------------------------------------------------------
template <typename ActionFeedback, typename TOrthogonal>
struct EvActionFeedback : sc::event<EvActionFeedback<ActionFeedback, TOrthogonal>>
{
  smacc2::client_bases::ISmaccActionClient * client;
  ActionFeedback feedbackMessage;
  // boost::any feedbackMessage;
};
 
template <typename TSource, typename TOrthogonal>
struct EvActionResult : sc::event<EvActionResult<TSource, TOrthogonal>>
{
  typename TSource::WrappedResult resultMessage;
};
 
template <typename TSource, typename TOrthogonal>
struct EvActionSucceeded : sc::event<EvActionSucceeded<TSource, TOrthogonal>>
{
  typename TSource::WrappedResult resultMessage;
 
  static std::string getEventLabel()
  {
    // show ros message type
    std::string label;
    EventLabel<TSource>(label);
    return label;
  }
 
  static std::string getDefaultTransitionTag() { return demangledTypeName<SUCCESS>(); }
 
  static std::string getDefaultTransitionType() { return demangledTypeName<SUCCESS>(); }
};
 
template <typename TSource, typename TOrthogonal>
struct EvActionAborted : sc::event<EvActionAborted<TSource, TOrthogonal>>
{
  typename TSource::WrappedResult resultMessage;
 
  static std::string getEventLabel()
  {
    // show ros message type
    std::string label;
    EventLabel<TSource>(label);
    return label;
  }
 
  static std::string getDefaultTransitionTag() { return demangledTypeName<ABORT>(); }
 
  static std::string getDefaultTransitionType() { return demangledTypeName<ABORT>(); }
};
 
template <typename TSource, typename TOrthogonal>
struct EvActionCancelled : sc::event<EvActionCancelled<TSource, TOrthogonal>>
{
  typename TSource::WrappedResult resultMessage;
 
  static std::string getEventLabel()
  {
    // show ros message type
    std::string label;
    EventLabel<TSource>(label);
    return label;
  }
 
  static std::string getDefaultTransitionTag() { return demangledTypeName<CANCEL>(); }
 
  static std::string getDefaultTransitionType() { return demangledTypeName<CANCEL>(); }
};
 
//---------- CONTROL FLOW EVENTS ----------------------------------------------------------
 
template <typename StateType>
struct EvStateRequestFinish : sc::event<EvStateRequestFinish<StateType>>
{
};
 
template <typename StateType>
struct EvSequenceFinished : sc::event<EvSequenceFinished<StateType>>
{
};
 
template <typename TSource>
struct EvLoopContinue : sc::event<EvLoopContinue<TSource>>
{
  static std::string getDefaultTransitionTag() { return demangledTypeName<CONTINUELOOP>(); }
 
  static std::string getDefaultTransitionType() { return demangledTypeName<CONTINUELOOP>(); }
};
 
template <typename TSource>
struct EvLoopEnd : sc::event<EvLoopEnd<TSource>>
{
  static std::string getDefaultTransitionTag() { return demangledTypeName<ENDLOOP>(); }
 
  static std::string getDefaultTransitionType() { return demangledTypeName<ENDLOOP>(); }
};
 
//---------- CONTROL FLOW EVENTS ----------------------------------------------------------
template <
  typename TSource, typename TOrthogonal, typename TMessageType = typename TSource::TMessageType>
struct EvTopicInitialMessage : sc::event<EvTopicInitialMessage<TSource, TOrthogonal, TMessageType>>
{
  // typename EvTopicInitialMessage<SensorBehaviorType>::TMessageType msgData;
  static std::string getEventLabel()
  {
    auto typeinfo = TypeInfo::getTypeInfoFromType<TMessageType>();
 
    std::string label = typeinfo->getNonTemplatedTypeName();
    return label;
  }
 
  TMessageType msgData;
};
 
template <
  typename TSource, typename TOrthogonal, typename TMessageType = typename TSource::TMessageType>
struct EvTopicMessage : sc::event<EvTopicMessage<TSource, TOrthogonal, TMessageType>>
{
  static std::string getEventLabel()
  {
    auto typeinfo = TypeInfo::getTypeInfoFromType<TMessageType>();
 
    std::string label = typeinfo->getNonTemplatedTypeName();
    return label;
  }
 
  TMessageType msgData;
};
}  // namespace default_events
}  // namespace smacc2