SMACC2
st_state_6.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 State6 : smacc2::SmaccState<State6, SmBranching>
23{
24 using SmaccState::SmaccState;
25
26 // TRANSITION TABLE
27 typedef mpl::list<
28
30
31 // STATE FUNCTIONS
32 static void staticConfigure()
33 {
34 // EvTimer triggers once at 10 client ticks
35 configure_orthogonal<OrTimer, CbTimerCountdownOnce>(5);
36 }
37
38 void runtimeConfigure() { RCLCPP_INFO(getLogger(), "Entering State6"); }
39
40 void onEntry() { RCLCPP_INFO(getLogger(), "On Entry!"); }
41
42 void onExit() { RCLCPP_INFO(getLogger(), "On Exit!"); }
43};
44} // namespace sm_branching
rclcpp::Logger getLogger()
Definition: smacc_state.hpp:36
static void staticConfigure()
Definition: st_state_6.hpp:32
mpl::list< > reactions
Definition: st_state_6.hpp:29