SMACC2
mode_3_st_observe.hpp
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1// Copyright 2021 RobosoftAI Inc.
2//
3// Licensed under the Apache License, Version 2.0 (the "License");
4// you may not use this file except in compliance with the License.
5// You may obtain a copy of the License at
6//
7// http://www.apache.org/licenses/LICENSE-2.0
8//
9// Unless required by applicable law or agreed to in writing, software
10// distributed under the License is distributed on an "AS IS" BASIS,
11// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12// See the License for the specific language governing permissions and
13// limitations under the License.
14
15namespace sm_multi_stage_1
16{
17// STATE DECLARATION
18struct Mode3StObserve : smacc2::SmaccState<Mode3StObserve, MsMode3>
19{
20 using SmaccState::SmaccState;
21
22 // DECLARE CUSTOM OBJECT TAGS
25
26 // TRANSITION TABLE
27 typedef mpl::list<
28
29 Transition<EvTimer<CbTimerCountdownOnce, OrTimer>, Mode3SequenceBLoop, SUCCESS>,
30 // Transition<smacc2::EvTopicMessage<CbWatchdogSubscriberBehavior, OrSubscriber>, SsMode1SequenceA>,
31 // Keyboard events
32 // Transition<EvKeyPressF<CbDefaultKeyboardBehavior, OrKeyboard>, MsMode2, SUCCESS>,
33 Transition<EvKeyPressA<CbDefaultKeyboardBehavior, OrKeyboard>, Mode3SequenceALoop, SUCCESS>,
34 // Transition<EvKeyPressA<CbDefaultKeyboardBehavior, OrKeyboard>, SsMode1SequenceA, mode_1_sequence_a>,
35 Transition<EvKeyPressB<CbDefaultKeyboardBehavior, OrKeyboard>, Mode3SequenceBLoop, SUCCESS>
36
38
39 // STATE FUNCTIONS
40 static void staticConfigure()
41 {
42 configure_orthogonal<OrTimer, CbTimerCountdownOnce>(10);
43 configure_orthogonal<OrSubscriber, CbWatchdogSubscriberBehavior>();
44 configure_orthogonal<OrUpdatablePublisher, CbDefaultPublishLoop>();
45 configure_orthogonal<OrKeyboard, CbDefaultKeyboardBehavior>();
46 }
47
49
50 void onEntry() { RCLCPP_INFO(getLogger(), "On Entry!"); }
51
52 void onExit() { RCLCPP_INFO(getLogger(), "On Exit!"); }
53};
54} // namespace sm_multi_stage_1
rclcpp::Logger getLogger()
Definition: smacc_state.hpp:36
mpl::list< Transition< EvTimer< CbTimerCountdownOnce, OrTimer >, Mode3SequenceBLoop, SUCCESS >, Transition< EvKeyPressA< CbDefaultKeyboardBehavior, OrKeyboard >, Mode3SequenceALoop, SUCCESS >, Transition< EvKeyPressB< CbDefaultKeyboardBehavior, OrKeyboard >, Mode3SequenceBLoop, SUCCESS > > reactions