st_acquire_sensors.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.hpp>
 
namespace sm_dance_bot_warehouse
{
using namespace smacc2::default_events;
 
// STATE DECLARATION
struct StAcquireSensors : smacc2::SmaccState<StAcquireSensors, MsDanceBotRunMode>
{
  using SmaccState::SmaccState;
 
  // DECLARE CUSTOM OBJECT TAGS
  struct ON_SENSORS_AVAILABLE : SUCCESS{};
  struct SrAcquireSensors;
 
  // TRANSITION TABLE
  typedef mpl::list<
 
    Transition<EvAllGo<SrAllEventsGo, SrAcquireSensors>, StEventCountDown, ON_SENSORS_AVAILABLE>,
    Transition<EvGlobalError, MsDanceBotRecoveryMode>
 
    >reactions;
 
  // STATE FUNCTIONS
  static void staticConfigure()
  {
    configure_orthogonal<OrObstaclePerception, CbLidarSensor>();
    configure_orthogonal<OrStringPublisher, CbStringPublisher>("Hello World!");
    configure_orthogonal<OrTemperatureSensor, CbConditionTemperatureSensor>();
    configure_orthogonal<OrService3, CbService3>(Service3Command::SERVICE3_ON);
    configure_orthogonal<OrUpdatablePublisher, cl_ros_publisher::CbDefaultPublishLoop>();
    configure_orthogonal<OrNavigation, CbWaitPose>();
 
    // Create State Reactor
    auto srAllSensorsReady = static_createStateReactor<
      SrAllEventsGo, smacc2::state_reactors::EvAllGo<SrAllEventsGo, SrAcquireSensors>,
      mpl::list<
        EvTopicMessage<CbLidarSensor, OrObstaclePerception>,
        EvTopicMessage<CbConditionTemperatureSensor, OrTemperatureSensor>,
        EvCbSuccess<CbWaitPose, OrNavigation>>>();
  }
};
}  // namespace sm_dance_bot_warehouse