SMACC2
sti_b_cycle_step_1.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{
17namespace b_cyclenner_states
18{
19// STATE DECLARATION
20struct StiBCycleStep1 : smacc2::SmaccState<StiBCycleStep1, SsBCycle>
21{
22 using SmaccState::SmaccState;
23
24 // DECLARE CUSTOM OBJECT TAGS
25 struct TIMEOUT : ABORT{};
26 struct NEXT : SUCCESS{};
27 struct PREVIOUS : ABORT{};
28 struct RETURN : CANCEL{};
29
30 // TRANSITION TABLE
31 typedef mpl::list<
32
33 Transition<EvTimer<CbTimerCountdownOnce, OrTimer>, StiBCycleStep2, TIMEOUT>,
34 Transition<EvKeyPressN<CbDefaultKeyboardBehavior, OrKeyboard>, StiBCycleStep2, NEXT>,
35 Transition<EvKeyPressP<CbDefaultKeyboardBehavior, OrKeyboard>, StiBCycleLoop, PREVIOUS>,
36
37 Transition<EvKeyPressZ<CbDefaultKeyboardBehavior, OrKeyboard>, StObserve, RETURN>,
38 Transition<EvKeyPressX<CbDefaultKeyboardBehavior, OrKeyboard>, MsRecover, ABORT>
39
41
42 // STATE FUNCTIONS
43 static void staticConfigure()
44 {
45 configure_orthogonal<OrTimer, CbTimerCountdownOnce>(40);
46 configure_orthogonal<OrSubscriber, CbWatchdogSubscriberBehavior>();
47 configure_orthogonal<OrUpdatablePublisher, CbDefaultPublishLoop>();
48 configure_orthogonal<OrKeyboard, CbDefaultKeyboardBehavior>();
49 }
50
52
53 void onEntry() { RCLCPP_INFO(getLogger(), "On Entry!"); }
54
55 void onExit() { RCLCPP_INFO(getLogger(), "On Exit!"); }
56};
57} // namespace b_cyclenner_states
58} // namespace sm_advanced_recovery_1
rclcpp::Logger getLogger()
Definition: smacc_state.hpp:36
mpl::list< Transition< EvTimer< CbTimerCountdownOnce, OrTimer >, StiBCycleStep2, TIMEOUT >, Transition< EvKeyPressN< CbDefaultKeyboardBehavior, OrKeyboard >, StiBCycleStep2, NEXT >, Transition< EvKeyPressP< CbDefaultKeyboardBehavior, OrKeyboard >, StiBCycleLoop, PREVIOUS >, Transition< EvKeyPressZ< CbDefaultKeyboardBehavior, OrKeyboard >, StObserve, RETURN >, Transition< EvKeyPressX< CbDefaultKeyboardBehavior, OrKeyboard >, MsRecover, ABORT > > reactions