st_state_2.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.
 
namespace sm_ferrari
{
using namespace std::chrono_literals;
 
// STATE DECLARATION
struct StState2 : smacc2::SmaccState<StState2, MsRun>, smacc2::ISmaccUpdatable
{
  using SmaccState::SmaccState;
 
  // DECLARE CUSTOM OBJECT TAGS
  struct TIMEOUT : ABORT{};
  struct NEXT : SUCCESS{};
  struct PREVIOUS : ABORT{};
 
  // TRANSITION TABLE
  typedef mpl::list<
 
    // Transition<EvTimer<CbTimerCountdownOnce, OrTimer>, StState3, TIMEOUT>,
    // Transition<EvAllGo<SrAllEventsGo>, StState3>,
    // Keyboard events
    Transition<EvKeyPressP<CbDefaultKeyboardBehavior, OrKeyboard>, StState1, PREVIOUS>,
    Transition<EvKeyPressN<CbDefaultKeyboardBehavior, OrKeyboard>, StState3, NEXT>,
    Transition<EvMyBehavior<CbMySubscriberBehavior, OrSubscriber>, StState3, NEXT>,
    Transition<EvTrue<EgConditionalGenerator, StState2>, StState3, NEXT>
 
    >reactions;
 
  static int k;
 
  // STATE FUNCTIONS
  static void staticConfigure()
  {
    // configure_orthogonal<OrTimer, CbTimerCountdownOnce>(10);
    // configure_orthogonal<OrSubscriber, CbWatchdogSubscriberBehavior>();
    configure_orthogonal<OrSubscriber, CbMySubscriberBehavior>();
    // configure_orthogonal<OrUpdatablePublisher, CbDefaultPublishLoop>();
    configure_orthogonal<OrKeyboard, CbDefaultKeyboardBehavior>();
 
    // Create State Reactor
    // auto sbAll = static_createStateReactor<SrAllEventsGo>();
    // sbAll->addInputEvent<EvKeyPressA<CbDefaultKeyboardBehavior, OrKeyboard>>();
    // sbAll->addInputEvent<EvKeyPressB<CbDefaultKeyboardBehavior, OrKeyboard>>();
    // sbAll->addInputEvent<EvKeyPressC<CbDefaultKeyboardBehavior, OrKeyboard>>();
    // sbAll->setOutputEvent<EvAllGo<SrAllEventsGo>>();
 
    static_createEventGenerator<EgConditionalGenerator>(ConditionalGeneratorMode::ON_UPDATE);
  }
 
  void runtimeConfigure()
  {
    k = 0;
 
    auto eg = this->getEventGenerator<EgConditionalGenerator>();
    eg->setPredicateFunction([=] { return this->eventGeneratorPredicate(this); });
  }
 
  bool eventGeneratorPredicate(ISmaccState * st)
  {
    auto res = k > 300;
    RCLCPP_INFO(st->getLogger(), "[State2] checking k: %d  > 300 == %d", k, res);
    rclcpp::sleep_for(10ms);
    // rclcpp::Duration(10ms).sleep();
    return res;
  }
 
  void update() override
  {
    k++;
    RCLCPP_INFO(getLogger(), "[State2] internally updating k: %d", k);
  }
 
  void onEntry() { RCLCPP_INFO(getLogger(), "On Entry!"); }
 
  void onExit() { RCLCPP_INFO(getLogger(), "On Exit!"); }
};
 
int StState2::k = 0;
}  // namespace sm_ferrari