SMACC2
smacc2_sm_reference_library
sm_atomic
include
sm_atomic
states
st_state_1.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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#include <
smacc2/smacc.hpp
>
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namespace
sm_atomic
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{
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using namespace
cl_ros_timer
;
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using namespace
smacc2::default_transition_tags
;
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// STATE DECLARATION
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struct
State1
:
smacc2::SmaccState
<State1, SmAtomic>
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{
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using
SmaccState::SmaccState;
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// TRANSITION TABLE
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typedef
mpl::list<
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Transition<EvTimer<CbTimerCountdownOnce, OrTimer>
,
State2
,
SUCCESS
>
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>
reactions
;
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// STATE FUNCTIONS
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static
void
staticConfigure
()
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{
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configure_orthogonal<OrTimer, CbTimerCountdownLoop>(3);
// EvTimer triggers each 3 client ticks
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configure_orthogonal<OrTimer, CbTimerCountdownOnce>(
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5);
// EvTimer triggers once at 10 client ticks
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}
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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_atomic
smacc2::ISmaccState::getLogger
rclcpp::Logger getLogger()
Definition:
smacc_state.hpp:36
smacc2::SmaccState
Definition:
smacc_state_base.hpp:41
smacc2::Transition
Definition:
smacc_transition.hpp:32
cl_ros_timer
Definition:
cl_ros_timer.hpp:23
sm_atomic
Definition:
or_timer.hpp:22
smacc2::default_transition_tags
Definition:
smacc_types.hpp:59
smacc.hpp
sm_atomic::State1
Definition:
st_state_1.hpp:24
sm_atomic::State1::staticConfigure
static void staticConfigure()
Definition:
st_state_1.hpp:35
sm_atomic::State1::runtimeConfigure
void runtimeConfigure()
Definition:
st_state_1.hpp:42
sm_atomic::State1::onExit
void onExit()
Definition:
st_state_1.hpp:46
sm_atomic::State1::reactions
mpl::list< Transition< EvTimer< CbTimerCountdownOnce, OrTimer >, State2, SUCCESS > > reactions
Definition:
st_state_1.hpp:32
sm_atomic::State1::onEntry
void onEntry()
Definition:
st_state_1.hpp:44
sm_atomic::State2
Definition:
st_state_2.hpp:21
smacc2::default_transition_tags::SUCCESS
Definition:
smacc_types.hpp:72
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