SMACC2
smacc2_sm_reference_library
sm_branching
include
sm_branching
states
st_state_4.hpp
Go to the documentation of this file.
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
15
#pragma once
16
17
#include <
smacc2/smacc.hpp
>
18
19
namespace
sm_branching
20
{
21
// STATE DECLARATION
22
struct
State4
:
smacc2::SmaccState
<State4, SmBranching>
23
{
24
using
SmaccState::SmaccState;
25
26
// TRANSITION TABLE
27
typedef
mpl::list<
28
29
Transition<EvTimer<CbTimerCountdownLoop, OrTimer>,
State5
,
SUCCESS
>,
30
Transition<EvTimer<CbTimerCountdownOnce, OrTimer>,
State5b
,
SUCCESS
>
31
32
>
reactions
;
33
34
// STATE FUNCTIONS
35
static
void
staticConfigure
()
36
{
37
// EvTimer triggers each 3 client ticks
38
configure_orthogonal<OrTimer, CbTimerCountdownLoop>(3);
39
// EvTimer triggers once at 10 client ticks
40
configure_orthogonal<OrTimer, CbTimerCountdownOnce>(5);
41
}
42
43
void
runtimeConfigure
() { RCLCPP_INFO(
getLogger
(),
"Entering State4"
); }
44
45
void
onEntry
() { RCLCPP_INFO(
getLogger
(),
"On Entry!"
); }
46
47
void
onExit
() { RCLCPP_INFO(
getLogger
(),
"On Exit!"
); }
48
};
49
}
// namespace sm_branching
smacc2::ISmaccState::getLogger
rclcpp::Logger getLogger()
Definition:
smacc_state.hpp:36
smacc2::SmaccState
Definition:
smacc_state_base.hpp:41
sm_branching
Definition:
or_timer.hpp:24
smacc.hpp
sm_branching::State4
Definition:
st_state_4.hpp:23
sm_branching::State4::staticConfigure
static void staticConfigure()
Definition:
st_state_4.hpp:35
sm_branching::State4::onExit
void onExit()
Definition:
st_state_4.hpp:47
sm_branching::State4::reactions
mpl::list< Transition< EvTimer< CbTimerCountdownLoop, OrTimer >, State5, SUCCESS >, Transition< EvTimer< CbTimerCountdownOnce, OrTimer >, State5b, SUCCESS > > reactions
Definition:
st_state_4.hpp:32
sm_branching::State4::onEntry
void onEntry()
Definition:
st_state_4.hpp:45
sm_branching::State4::runtimeConfigure
void runtimeConfigure()
Definition:
st_state_4.hpp:43
sm_branching::State5
Definition:
st_state_5.hpp:23
sm_branching::State5b
Definition:
st_state_5b.hpp:23
smacc2::default_transition_tags::SUCCESS
Definition:
smacc_types.hpp:72
Generated by
1.9.4