mode_2_st_observe.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.
 
namespace sm_multi_stage_1
{
// STATE DECLARATION
struct Mode2StObserve : smacc2::SmaccState<Mode2StObserve, MsMode2>
{
  using SmaccState::SmaccState;
 
  // DECLARE CUSTOM OBJECT TAGS
  struct mode_2_sequence_a : SUCCESS{};
  struct mode_2_sequence_b : SUCCESS{};
 
  // TRANSITION TABLE
  typedef mpl::list<
 
    Transition<EvTimer<CbTimerCountdownOnce, OrTimer>, Mode2SequenceBLoop, SUCCESS>,
    // Transition<smacc2::EvTopicMessage<CbWatchdogSubscriberBehavior, OrSubscriber>, SsMode1SequenceA>,
    // Keyboard events
    // Transition<EvKeyPressF<CbDefaultKeyboardBehavior, OrKeyboard>, MsMode2, SUCCESS>,
    Transition<EvKeyPressA<CbDefaultKeyboardBehavior, OrKeyboard>, Mode2SequenceALoop, SUCCESS>,
    // Transition<EvKeyPressA<CbDefaultKeyboardBehavior, OrKeyboard>, SsMode1SequenceA, mode_1_sequence_a>,
    Transition<EvKeyPressB<CbDefaultKeyboardBehavior, OrKeyboard>, Mode2SequenceBLoop, SUCCESS>
 
    >reactions;
 
  // STATE FUNCTIONS
  static void staticConfigure()
  {
    configure_orthogonal<OrTimer, CbTimerCountdownOnce>(10);
    configure_orthogonal<OrSubscriber, CbWatchdogSubscriberBehavior>();
    configure_orthogonal<OrUpdatablePublisher, CbDefaultPublishLoop>();
    configure_orthogonal<OrKeyboard, CbDefaultKeyboardBehavior>();
  }
 
  void runtimeConfigure() {}
 
  void onEntry() { RCLCPP_INFO(getLogger(), "On Entry!"); }
 
  void onExit() { RCLCPP_INFO(getLogger(), "On Exit!"); }
};
}  // namespace sm_multi_stage_1