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_husky_barrel_search_1
{
using namespace smacc2::default_events;
 
// STATE DECLARATION
struct StAcquireSensors : smacc2::SmaccState<StAcquireSensors, SmHuskyBarrelSearch1>
{
  using SmaccState::SmaccState;
 
  // DECLARE CUSTOM OBJECT TAGS
  struct ON_SENSORS_AVAILABLE : SUCCESS
  {
  };
  struct SrAcquireSensors;
 
  // TRANSITION TABLE
  typedef mpl::list<
 
    // Transition<EvAllGo<SrAllEventsGo, SrAcquireSensors>, StNavigateWaypointsX>,
    // Transition<EvGlobalError, MsDanceBotRecoveryMode>
    // smacc2::Transition<
    //   smacc2::EvCbSuccess<cl_nav2z::CbWaitPose, OrNavigation>, StNavigateToWaypointX>,
 
    smacc2::Transition<smacc2::EvCbSuccess<cl_nav2z::CbWaitNav2Nodes, OrNavigation>, StNavigateToWaypointX, SUCCESS>,
 
    smacc2::Transition<
      smacc2::EvCbFailure<cl_nav2z::CbWaitPose, OrNavigation>, StNavigateToWaypointX>
    >
    reactions;
 
  // STATE FUNCTIONS
  static void staticConfigure()
  {
    // configure_orthogonal<OrNavigation, CbLidarSensor>();
    configure_orthogonal<OrNavigation, cl_nav2z::CbWaitPose>();
    configure_orthogonal<OrNavigation, cl_nav2z::CbWaitNav2Nodes>();
 
    // Create State Reactor
    // auto srAllSensorsReady = static_createStateReactor<
    //   SrAllEventsGo, smacc2::state_reactors::EvAllGo<SrAllEventsGo, SrAcquireSensors>,
    //   mpl::list<
    //     EvTopicMessage<CbLidarSensor, OrNavigation>,
    //     // EvTopicMessage<CbConditionTemperatureSensor, OrTemperatureSensor>,
    //     EvCbSuccess<CbWaitPose, OrNavigation>>>();
  }
};
}  // namespace sm_husky_barrel_search_1