SMACC2
st_state_3c.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
15#pragma once
16
17#include <smacc2/smacc.hpp>
18
19namespace sm_branching
20{
21// STATE DECLARATION
22struct State3c : smacc2::SmaccState<State3c, SmBranching>
23{
24 using SmaccState::SmaccState;
25
26 // TRANSITION TABLE
27 typedef mpl::list<
28
29 Transition<EvTimer<CbTimerCountdownOnce, OrTimer>, State4c, SUCCESS>
30
32
33 // STATE FUNCTIONS
34 static void staticConfigure()
35 {
36 // EvTimer triggers once at 10 client ticks
37 configure_orthogonal<OrTimer, CbTimerCountdownOnce>(5);
38 }
39
40 void runtimeConfigure() { RCLCPP_INFO(getLogger(), "Entering State3"); }
41
42 void onEntry() { RCLCPP_INFO(getLogger(), "On Entry!"); }
43
44 void onExit() { RCLCPP_INFO(getLogger(), "On Exit!"); }
45};
46} // namespace sm_branching
rclcpp::Logger getLogger()
Definition: smacc_state.hpp:36
static void staticConfigure()
Definition: st_state_3c.hpp:34
mpl::list< Transition< EvTimer< CbTimerCountdownOnce, OrTimer >, State4c, SUCCESS > > reactions
Definition: st_state_3c.hpp:31