SMACC2
smacc2_sm_reference_library
sm_three_some
include
sm_three_some
states
st_state_4.hpp
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// Copyright 2021 RobosoftAI Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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namespace
sm_three_some
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{
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// STATE DECLARATION
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struct
StState4
:
smacc2::SmaccState
<StState4, MsRun>
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{
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using
SmaccState::SmaccState;
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// DECLARE CUSTOM OBJECT TAGS
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struct
TIMEOUT
:
ABORT
{};
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struct
NEXT
:
SUCCESS
{};
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typedef
mpl::list<Transition<EvTimer<CbTimerCountdownOnce, OrTimer>,
SS1::Ss1
,
TIMEOUT
>>
transitions
;
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struct
PREVIOUS
:
ABORT
{};
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// STATE FUNCTIONS
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static
void
staticConfigure
() { configure_orthogonal<OrTimer, CbTimerCountdownOnce>(10); }
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void
runtimeConfigure
() {}
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void
onEntry
() { RCLCPP_INFO(
getLogger
(),
"On Entry!"
); }
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void
onExit
() { RCLCPP_INFO(
getLogger
(),
"On Exit!"
); }
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};
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}
// namespace sm_three_some
ABORT
SUCCESS
smacc2::ISmaccState::getLogger
rclcpp::Logger getLogger()
Definition:
smacc_state.hpp:36
smacc2::SmaccState
Definition:
smacc_state_base.hpp:41
sm_three_some
Definition:
cl_subscriber.hpp:21
sm_three_some::SS1::Ss1
Definition:
ss_superstate_1.hpp:34
sm_three_some::StState4::NEXT
Definition:
st_state_4.hpp:24
sm_three_some::StState4::PREVIOUS
Definition:
st_state_4.hpp:28
sm_three_some::StState4::TIMEOUT
Definition:
st_state_4.hpp:23
sm_three_some::StState4
Definition:
st_state_4.hpp:19
sm_three_some::StState4::onEntry
void onEntry()
Definition:
st_state_4.hpp:35
sm_three_some::StState4::onExit
void onExit()
Definition:
st_state_4.hpp:37
sm_three_some::StState4::transitions
mpl::list< Transition< EvTimer< CbTimerCountdownOnce, OrTimer >, SS1::Ss1, TIMEOUT > > transitions
Definition:
st_state_4.hpp:26
sm_three_some::StState4::runtimeConfigure
void runtimeConfigure()
Definition:
st_state_4.hpp:33
sm_three_some::StState4::staticConfigure
static void staticConfigure()
Definition:
st_state_4.hpp:31
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