SMACC2
st_recover_step_4.hpp
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1// Copyright 2021 RobosoftAI Inc.
2//
3// Licensed under the Apache License, Version 2.0 (the "License");
4// you may not use this file except in compliance with the License.
5// You may obtain a copy of the License at
6//
7// http://www.apache.org/licenses/LICENSE-2.0
8//
9// Unless required by applicable law or agreed to in writing, software
10// distributed under the License is distributed on an "AS IS" BASIS,
11// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12// See the License for the specific language governing permissions and
13// limitations under the License.
14
16{
17// STATE DECLARATION
18struct StRecoverStep4 : smacc2::SmaccState<StRecoverStep4, MsRecover>
19{
20 using SmaccState::SmaccState;
21
22 // DECLARE CUSTOM OBJECT TAGS
23 struct TIMEOUT : ABORT{};
24 struct NEXT : SUCCESS{};
25 struct PREVIOUS : ABORT{};
26
27 // TRANSITION TABLE
28 typedef mpl::list<
29
30 Transition<EvKeyPressN<CbDefaultKeyboardBehavior, OrKeyboard>, StRecoverStep5, NEXT>,
31 Transition<EvTimer<CbTimerCountdownOnce, OrTimer>, smacc2::deep_history<MsRun::LastDeepState>, SUCCESS>
32
34
35 // STATE FUNCTIONS
36 static void staticConfigure()
37 {
38 configure_orthogonal<OrTimer, CbTimerCountdownOnce>(50);
39 configure_orthogonal<OrSubscriber, CbWatchdogSubscriberBehavior>();
40 configure_orthogonal<OrUpdatablePublisher, CbDefaultPublishLoop>();
41 configure_orthogonal<OrKeyboard, CbDefaultKeyboardBehavior>();
42 }
43
45
46 void onEntry() { RCLCPP_INFO(getLogger(), "On Entry!"); }
47
48 void onExit() { RCLCPP_INFO(getLogger(), "On Exit!"); }
49};
50} // namespace sm_advanced_recovery_1
rclcpp::Logger getLogger()
Definition: smacc_state.hpp:36
sc::deep_history< T > deep_history
Definition: common.hpp:53
mpl::list< Transition< EvKeyPressN< CbDefaultKeyboardBehavior, OrKeyboard >, StRecoverStep5, NEXT >, Transition< EvTimer< CbTimerCountdownOnce, OrTimer >, smacc2::deep_history< MsRun::LastDeepState >, SUCCESS > > reactions