sm_respira_1.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 <rclcpp/rclcpp.hpp>
#include <smacc2/smacc.hpp>
 
// CLIENTS
#include <keyboard_client/cl_keyboard.hpp>
#include <ros_timer_client/cl_ros_timer.hpp>
 
// ORTHOGONALS
#include <sm_respira_1/orthogonals/or_keyboard.hpp>
#include <sm_respira_1/orthogonals/or_subscriber.hpp>
#include <sm_respira_1/orthogonals/or_timer.hpp>
#include <sm_respira_1/orthogonals/or_updatable_publisher.hpp>
 
using namespace cl_ros_timer;
using namespace cl_ros_publisher;
using namespace cl_keyboard;
using namespace sm_respira_1::cl_subscriber;
 
//CLIENT BEHAVIORS
#include <ros_publisher_client/client_behaviors/cb_default_publish_loop.hpp>
#include <ros_publisher_client/client_behaviors/cb_muted_behavior.hpp>
#include <ros_publisher_client/client_behaviors/cb_publish_once.hpp>
 
#include <sm_respira_1/clients/cl_subscriber/client_behaviors/cb_default_subscriber_behavior.hpp>
#include <sm_respira_1/clients/cl_subscriber/client_behaviors/cb_watchdog_subscriber_behavior.hpp>
 
#include <keyboard_client/client_behaviors/cb_default_keyboard_behavior.hpp>
 
//#include <ros_timer_client/client_behaviors/cb_ros_timer.hpp>
#include <ros_timer_client/client_behaviors/cb_timer_countdown_once.hpp>
 
//STATE REACTORS
#include <sr_all_events_go/sr_all_events_go.hpp>
 
using namespace smacc2;
using namespace smacc2::state_reactors;
using namespace smacc2::default_events;
 
namespace sm_respira_1
{
//SUPERSTATES
class SsACCycle;
namespace ac_cycle_inner_states
{
class StiACCycleLoop;
class StiACCycleInspire;
class StiACCyclePlateau;
class StiACCycleExpire;
class StiACCycleDwell;
}  // namespace ac_cycle_inner_states
 
class SsCMVCycle;
 
namespace cmv_cycle_inner_states
{
//FORWARD DECLARATIONS OF ALL INNER STATES
class StiCMVCycleLoop;
class StiCMVCycleInspire;
class StiCMVCyclePlateau;
class StiCMVCycleExpire;
class StiCMVCycleDwell;
}  // namespace cmv_cycle_inner_states
 
class SsPCCycle;
namespace pc_cycle_inner_states
{
//FORWARD DECLARATIONS OF ALL INNER STATES
class StiPCCycleLoop;
class StiPCCycleInspire;
class StiPCCyclePlateau;
class StiPCCycleExpire;
class StiPCCycleDwell;
}  // namespace pc_cycle_inner_states
 
class SsPSCycle;
namespace ps_cycle_inner_states
{
//FORWARD DECLARATIONS OF ALL INNER STATES
class StiPSCycleLoop;
class StiPSCycleInspire;
class StiPSCyclePlateau;
class StiPSCycleExpire;
class StiPSCycleDwell;
}  // namespace ps_cycle_inner_states
 
//STATES
class StObserve;
class StLeakyLungStep1;
class StLeakyLungStep2;
class StLeakyLungStep3;
class StPatientObstructionStep1;
class StPatientObstructionStep2;
class StCalibrationStep1;
class StSystemShutdown;
 
//MODE STATES
class MsRun;
class MsLeakyLung;
class MsPatientObstruction;
class MsCalibration;
class MsShutdown;
 
struct EvToDeep : sc::event<EvToDeep>
{
};
 
struct EvFail : sc::event<EvFail>
{
};
 
// STATE MACHINE
struct SmRespira1 : public smacc2::SmaccStateMachineBase<SmRespira1, MsRun>
{
  using SmaccStateMachineBase::SmaccStateMachineBase;
 
  virtual void onInitialize() override
  {
    this->createOrthogonal<OrTimer>();
    this->createOrthogonal<OrUpdatablePublisher>();
    this->createOrthogonal<OrKeyboard>();
    this->createOrthogonal<OrSubscriber>();
  }
};
}  // namespace sm_respira_1
 
// MODE STATES
#include <sm_respira_1/mode_states/ms_calibration.hpp>
#include <sm_respira_1/mode_states/ms_leaky_lung.hpp>
#include <sm_respira_1/mode_states/ms_patient_obstruction.hpp>
#include <sm_respira_1/mode_states/ms_run.hpp>
#include <sm_respira_1/mode_states/ms_shutdown.hpp>
 
//STATES
#include <sm_respira_1/states/ms_calibration_inner_states/st_calibration_step_1.hpp>
#include <sm_respira_1/states/ms_leaky_lung_inner_states/st_leaky_lung_step_1.hpp>
#include <sm_respira_1/states/ms_leaky_lung_inner_states/st_leaky_lung_step_2.hpp>
#include <sm_respira_1/states/ms_leaky_lung_inner_states/st_leaky_lung_step_3.hpp>
#include <sm_respira_1/states/ms_patient_obstruction_inner_states/st_patient_obstruction_step_1.hpp>
#include <sm_respira_1/states/ms_patient_obstruction_inner_states/st_patient_obstruction_step_2.hpp>
#include <sm_respira_1/states/ms_shutdown_inner_states/st_system_shutdown.hpp>
#include <sm_respira_1/states/st_observe.hpp>
 
#include <sm_respira_1/superstates/ss_ac_cycle.hpp>
#include <sm_respira_1/superstates/ss_cmv_cycle.hpp>
#include <sm_respira_1/superstates/ss_pc_cycle.hpp>
#include <sm_respira_1/superstates/ss_ps_cycle.hpp>
 
//ss_ac_cycle
#include <sm_respira_1/states/ac_cycle_inner_states/sti_ac_cycle_dwell.hpp>
#include <sm_respira_1/states/ac_cycle_inner_states/sti_ac_cycle_expire.hpp>
#include <sm_respira_1/states/ac_cycle_inner_states/sti_ac_cycle_inspire.hpp>
#include <sm_respira_1/states/ac_cycle_inner_states/sti_ac_cycle_loop.hpp>
#include <sm_respira_1/states/ac_cycle_inner_states/sti_ac_cycle_plateau.hpp>
 
//ss_cmv_cycle
#include <sm_respira_1/states/cmv_cycle_inner_states/sti_cmv_cycle_dwell.hpp>
#include <sm_respira_1/states/cmv_cycle_inner_states/sti_cmv_cycle_expire.hpp>
#include <sm_respira_1/states/cmv_cycle_inner_states/sti_cmv_cycle_inspire.hpp>
#include <sm_respira_1/states/cmv_cycle_inner_states/sti_cmv_cycle_loop.hpp>
#include <sm_respira_1/states/cmv_cycle_inner_states/sti_cmv_cycle_plateau.hpp>
 
//ss_pc_cycle
#include <sm_respira_1/states/pc_cycle_inner_states/sti_pc_cycle_dwell.hpp>
#include <sm_respira_1/states/pc_cycle_inner_states/sti_pc_cycle_expire.hpp>
#include <sm_respira_1/states/pc_cycle_inner_states/sti_pc_cycle_inspire.hpp>
#include <sm_respira_1/states/pc_cycle_inner_states/sti_pc_cycle_loop.hpp>
#include <sm_respira_1/states/pc_cycle_inner_states/sti_pc_cycle_plateau.hpp>
 
//ss_ps_cycle
#include <sm_respira_1/states/ps_cycle_inner_states/sti_ps_cycle_dwell.hpp>
#include <sm_respira_1/states/ps_cycle_inner_states/sti_ps_cycle_expire.hpp>
#include <sm_respira_1/states/ps_cycle_inner_states/sti_ps_cycle_inspire.hpp>
#include <sm_respira_1/states/ps_cycle_inner_states/sti_ps_cycle_loop.hpp>
#include <sm_respira_1/states/ps_cycle_inner_states/sti_ps_cycle_plateau.hpp>