st_navigate_waypoint_2.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.
 
/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
 
#pragma once
 
#include "rclcpp/rclcpp.hpp"
#include "smacc2/smacc.hpp"
 
// CLIENTS
#include "ros_timer_client/cl_ros_timer.hpp"
#include "ros_timer_client/client_behaviors/cb_timer_countdown_loop.hpp"
#include "ros_timer_client/client_behaviors/cb_timer_countdown_once.hpp"
 
// ORTHOGONALS
#include "sm_autoware_avp/orthogonals/or_autoware_auto.hpp"
 
namespace sm_autoware_avp
{
// SMACC2 clases
using sm_autoware_avp::clients::autoware_client::CbNavigateGlobalPosition;
using smacc2::EvStateRequestFinish;
using smacc2::Transition;
using smacc2::default_transition_tags::SUCCESS;
 
using namespace sm_autoware_avp::clients;
 
// STATE DECLARATION
struct StNavigateWaypoint2 : smacc2::SmaccState<StNavigateWaypoint2, SmAutowareAvp>
{
  using SmaccState::SmaccState;
 
  // TRANSITION TABLE
  typedef boost::mpl::list<
 
    Transition<EvGoalReached<ClAutoware, OrAutowareAuto>, StSecondPause, SUCCESS>,
    Transition<EvTimer<CbTimerCountdownOnce, OrTimer>, StNavigateWaypoint2, REPLAN>
 
    >
    reactions;
 
  // STATE FUNCTIONS
  static void staticConfigure()
  {
    geometry_msgs::msg::PoseStamped goal;
    goal.header.frame_id = "map";
    goal.pose.position.x = -92.7;
    goal.pose.position.y = 15.4;
    goal.pose.position.z = 0;
 
    goal.pose.orientation.z = -0.6221545523727376;
    goal.pose.orientation.w = 0.7828944456067359;
 
    configure_orthogonal<OrAutowareAuto, CbNavigateGlobalPosition>(goal);
    configure_orthogonal<OrTimer, CbTimerCountdownOnce>(12);
  }
 
  void runtimeConfigure() { RCLCPP_INFO(getLogger(), "Entering StNavigateWaypoint2"); }
 
  void onEntry() { RCLCPP_INFO(getLogger(), "On Entry!"); }
 
  void onExit() { RCLCPP_INFO(getLogger(), "On Exit!"); }
};
}  // namespace sm_autoware_avp