sm_name.hpp

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// Copyright 2021 MyName/MyCompany Inc.
// Copyright 2021 RobosoftAI Inc. (template)
//
// 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 <memory>
 
#include "rclcpp/rclcpp.hpp"
#include "smacc2/smacc.hpp"
 
namespace $sm_name$
{
//STATES
struct State1;
struct State2;
 
//VARIABLES - shared between states (using "_<name>_"-syntax to make this obvious)
static unsigned int _counter_ = 0;
rclcpp::Time _start_time_;
 
unsigned int _sum_of_iterations_ = 0.0;
double _sum_of_elapsed_time_ = 0.0;
 
//--------------------------------------------------------------------
//STATE_MACHINE
struct $SmName$ : public smacc2::SmaccStateMachineBase<$SmName$, State1>
{
  using SmaccStateMachineBase::SmaccStateMachineBase;
 
  void onInitialize() override { _start_time_ = getNode()->now(); }
};
 
}  // namespace $sm_name$
 
#include "states/st_state_1.hpp"
#include "states/st_state_2.hpp"