sm_branching.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.
 
#pragma once
 
#include <smacc2/smacc.hpp>
 
// CLIENTS
#include <ros_timer_client/cl_ros_timer.hpp>
 
//CLIENT BEHAVIORS
#include <ros_timer_client/client_behaviors/cb_timer_countdown_loop.hpp>
#include <ros_timer_client/client_behaviors/cb_timer_countdown_once.hpp>
 
// ORTHOGONALS
#include "orthogonals/or_timer.hpp"
 
using namespace boost;
using namespace smacc2;
 
namespace sm_branching
{
//STATE
class State1;
class State2;
class State2b;
class State2c;
class State3;
class State3b;
class State3c;
class State4;
class State4c;
class State5;
class State5b;
class State6;
 
//--------------------------------------------------------------------
//STATE_MACHINE
struct SmBranching : public smacc2::SmaccStateMachineBase<SmBranching, State1>
{
  using SmaccStateMachineBase::SmaccStateMachineBase;
 
  virtual void onInitialize() override { this->createOrthogonal<OrTimer>(); }
};
 
}  // namespace sm_branching
 
#include "states/st_state_1.hpp"
#include "states/st_state_2.hpp"
#include "states/st_state_2b.hpp"
#include "states/st_state_2c.hpp"
#include "states/st_state_3.hpp"
#include "states/st_state_3b.hpp"
#include "states/st_state_3c.hpp"
#include "states/st_state_4.hpp"
#include "states/st_state_4c.hpp"
#include "states/st_state_5.hpp"
#include "states/st_state_5b.hpp"
#include "states/st_state_6.hpp"