SMACC2
sti_mode_3_sequence_a_step_3.hpp
Go to the documentation of this file.
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
15namespace sm_multi_stage_1
16{
17namespace mode_3_sequence_a
18{
19// STATE DECLARATION
20struct StiMode3SequenceAStep3 : smacc2::SmaccState<StiMode3SequenceAStep3, SsMode3SequenceA>
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>, StiMode3SequenceAStep4, TIMEOUT>,
34 Transition<EvKeyPressP<CbDefaultKeyboardBehavior, OrKeyboard>, StiMode3SequenceAStep2, PREVIOUS>,
35 Transition<EvKeyPressN<CbDefaultKeyboardBehavior, OrKeyboard>, StiMode3SequenceAStep4, NEXT>
36
37 //Transition<EvKeyPressZ<CbDefaultKeyboardBehavior, OrKeyboard>, Mode2StObserve, RETURN>,
38 //Transition<EvKeyPressX<CbDefaultKeyboardBehavior, OrKeyboard>, MsRecovery2, ABORT>
40
41 // STATE FUNCTIONS
42 static void staticConfigure()
43 {
44 configure_orthogonal<OrTimer, CbTimerCountdownOnce>(20);
45 configure_orthogonal<OrSubscriber, CbWatchdogSubscriberBehavior>();
46 configure_orthogonal<OrUpdatablePublisher, CbDefaultPublishLoop>();
47 configure_orthogonal<OrKeyboard, CbDefaultKeyboardBehavior>();
48 }
49
51
52 void onEntry() { RCLCPP_INFO(getLogger(), "On Entry!"); }
53
54 void onExit() { RCLCPP_INFO(getLogger(), "On Exit!"); }
55};
56} // namespace mode_1_sequence_a
57} // namespace sm_multi_stage_1
rclcpp::Logger getLogger()
Definition: smacc_state.hpp:36
mpl::list< Transition< EvTimer< CbTimerCountdownOnce, OrTimer >, StiMode3SequenceAStep4, TIMEOUT >, Transition< EvKeyPressP< CbDefaultKeyboardBehavior, OrKeyboard >, StiMode3SequenceAStep2, PREVIOUS >, Transition< EvKeyPressN< CbDefaultKeyboardBehavior, OrKeyboard >, StiMode3SequenceAStep4, NEXT > > reactions