SMACC2
sti_ps_cycle_dwell.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
15namespace sm_respira_1
16{
17namespace ps_cycle_inner_states
18{
19// STATE DECLARATION
20struct StiPSCycleDwell : smacc2::SmaccState<StiPSCycleDwell, SsPSCycle>
21{
22 using SmaccState::SmaccState;
23
24 // DECLARE CUSTOM OBJECT TAGS
25 struct TIMEOUT : ABORT{};
26 struct NEXT : SUCCESS{};
27 struct PREVIOUS : ABORT{};
28
29 // TRANSITION TABLE
30 typedef mpl::list<
31
32 Transition<EvTimer<CbTimerCountdownOnce, OrTimer>, StiPSCycleLoop, TIMEOUT>,
33 Transition<EvKeyPressP<CbDefaultKeyboardBehavior, OrKeyboard>, StiPSCycleExpire, PREVIOUS>,
34 Transition<EvKeyPressN<CbDefaultKeyboardBehavior, OrKeyboard>, StiPSCycleLoop, NEXT>,
35
36 Transition<EvKeyPressX<CbDefaultKeyboardBehavior, OrKeyboard>, MsLeakyLung, ABORT>,
37 Transition<EvKeyPressZ<CbDefaultKeyboardBehavior, OrKeyboard>, MsPatientObstruction, ABORT>
38
40
41 // STATE FUNCTIONS
42 static void staticConfigure()
43 {
44 configure_orthogonal<OrTimer, CbTimerCountdownOnce>(10);
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 ps_cycle_inner_states
57} // namespace sm_respira_1
rclcpp::Logger getLogger()
Definition: smacc_state.hpp:36
mpl::list< Transition< EvTimer< CbTimerCountdownOnce, OrTimer >, StiPSCycleLoop, TIMEOUT >, Transition< EvKeyPressP< CbDefaultKeyboardBehavior, OrKeyboard >, StiPSCycleExpire, PREVIOUS >, Transition< EvKeyPressN< CbDefaultKeyboardBehavior, OrKeyboard >, StiPSCycleLoop, NEXT >, Transition< EvKeyPressX< CbDefaultKeyboardBehavior, OrKeyboard >, MsLeakyLung, ABORT >, Transition< EvKeyPressZ< CbDefaultKeyboardBehavior, OrKeyboard >, MsPatientObstruction, ABORT > > reactions