#include <st_state_2.hpp>

Inheritance diagram for sm_pubsub_1::StState2:

Collaboration diagram for sm_pubsub_1::StState2:

Classes
struct	NEXT

struct	PREVIOUS

struct	TIMEOUT

Public Types
typedef mpl::list< Transition< EvKeyPressP< CbDefaultKeyboardBehavior, OrKeyboard >, StState1, PREVIOUS >, Transition< EvKeyPressN< CbDefaultKeyboardBehavior, OrKeyboard >, StState3, NEXT >, Transition< EvMyBehavior< CbMySubscriberBehavior, OrSubscriber >, StState3, NEXT >, Transition< EvTrue< EgConditionalGenerator, StState2 >, StState3, NEXT > >	reactions

Public Types inherited from smacc2::SmaccState< StState2, MsRun >
typedef MsRun	TContext

typedef Context::inner_context_type	context_type

typedef context_type::state_iterator	state_iterator

typedef mpl::list<>	LastDeepState

typedef base_type::outermost_context_base_type	outermost_context_base_type

typedef base_type::inner_context_ptr_type	inner_context_ptr_type

typedef base_type::context_ptr_type	context_ptr_type

typedef base_type::inner_initial_list	inner_initial_list

Public Member Functions
void	runtimeConfigure ()

bool	eventGeneratorPredicate (ISmaccState *st)

void	update () override

void	onEntry ()

void	onExit ()

Public Member Functions inherited from smacc2::SmaccState< StState2, MsRun >
	SmaccState ()=delete

	SmaccState (my_context ctx)

virtual	~SmaccState ()

const smacc2::introspection::SmaccStateInfo *	getStateInfo ()

std::string	getName () override

std::string	getFullName ()

std::string	getShortName ()

virtual ISmaccState *	getParentState ()

void	exit ()

void	runtimeConfigure ()

void	onEntry ()

void	onExit ()

bool	getGlobalSMData (std::string name, T &ret)

void	setGlobalSMData (std::string name, T value)

void	requiresComponent (SmaccComponentType *&storage)

virtual ISmaccStateMachine &	getStateMachine ()

void	checkWhileLoopConditionAndThrowEvent (bool(MostDerived::*conditionFn)())

void	throwSequenceFinishedEvent ()

Public Member Functions inherited from smacc2::ISmaccState
virtual ISmaccStateMachine &	getStateMachine ()=0

virtual std::string	getName ()=0

ISmaccState *	getParentState ()

rclcpp::Node::SharedPtr &	getNode ()

rclcpp::Logger	getLogger ()

virtual std::string	getClassName ()

template<typename TOrthogonal , typename TBehavior , typename... Args>
std::shared_ptr< TBehavior >	configure (Args &&... args)

template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage)

template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)

template<typename T >
bool	getGlobalSMData (std::string name, T &ret)

template<typename T >
void	setGlobalSMData (std::string name, T value)

template<typename TStateReactor , typename TTriggerEvent , typename TEventList , typename... TEvArgs>
std::shared_ptr< TStateReactor >	createStateReactor (TEvArgs... args)

template<typename TStateReactor , typename... TEvArgs>
std::shared_ptr< TStateReactor >	createStateReactor (TEvArgs... args)

template<typename TEventGenerator , typename... TEvArgs>
std::shared_ptr< TEventGenerator >	createEventGenerator (TEvArgs... args)

template<typename EventType >
void	postEvent (const EventType &ev)

template<typename EventType >
void	postEvent ()

template<typename TransitionType >
void	notifyTransition ()

void	notifyTransitionFromTransitionTypeInfo (std::shared_ptr< smacc2::introspection::TypeInfo > &transitionTypeInfo)

std::vector< std::shared_ptr< StateReactor > > &	getStateReactors ()

std::vector< std::shared_ptr< SmaccEventGenerator > > &	getEventGenerators ()

template<typename TOrthogonal >
TOrthogonal *	getOrthogonal ()

template<typename TEventGenerator >
TEventGenerator *	getEventGenerator ()

template<typename TStateReactor >
TStateReactor *	getStateReactor ()

Public Member Functions inherited from smacc2::ISmaccUpdatable
	ISmaccUpdatable ()

	ISmaccUpdatable (rclcpp::Duration duration)

void	executeUpdate (rclcpp::Node::SharedPtr node)

void	setUpdatePeriod (rclcpp::Duration duration)

Static Public Member Functions
static void	staticConfigure ()

Static Public Member Functions inherited from smacc2::SmaccState< StState2, MsRun >
static void	configure_orthogonal_runtime (std::function< void(TBehavior &bh, StState2 &)> initializationFunction)

static void	configure_orthogonal_runtime (std::function< void(TBehavior &bh)> initializationFunction)

static void	configure_orthogonal (Args &&... args)

static std::shared_ptr< smacc2::introspection::StateReactorHandler >	static_createStateReactor (TArgs... args)

static std::shared_ptr< smacc2::introspection::EventGeneratorHandler >	static_createEventGenerator (TUArgs... args)

static std::shared_ptr< smacc2::introspection::StateReactorHandler >	static_createStateReactor_aux (TUArgs... args)

static void	initial_deep_construct (outermost_context_base_type &outermostContextBase)

static void	deep_construct (const context_ptr_type &pContext, outermost_context_base_type &outermostContextBase)

static inner_context_ptr_type	shallow_construct (const context_ptr_type &pContext, outermost_context_base_type &outermostContextBase)

Static Public Attributes
static int	k = 0

Additional Inherited Members
Public Attributes inherited from smacc2::SmaccState< StState2, MsRun >
bool	finishStateThrown

mpl::list<> *	smacc_inner_type

virtual void	update ()=0

Protected Attributes inherited from smacc2::ISmaccState
rclcpp::Node::SharedPtr	node_

std::shared_ptr< rclcpp::Logger >	logger_

std::vector< std::shared_ptr< StateReactor > >	stateReactors_

std::vector< std::shared_ptr< smacc2::SmaccEventGenerator > >	eventGenerators_

ISmaccState *	parentState_

const smacc2::introspection::SmaccStateInfo *	stateInfo_

Detailed Description

Definition at line 20 of file st_state_2.hpp.

Member Typedef Documentation

◆ reactions

typedef mpl::list< Transition<EvKeyPressP<CbDefaultKeyboardBehavior, OrKeyboard>, StState1, PREVIOUS>, Transition<EvKeyPressN<CbDefaultKeyboardBehavior, OrKeyboard>, StState3, NEXT>, Transition<EvMyBehavior<CbMySubscriberBehavior, OrSubscriber>, StState3, NEXT>, Transition<EvTrue<EgConditionalGenerator, StState2>, StState3, NEXT> > sm_pubsub_1::StState2::reactions

Definition at line 40 of file st_state_2.hpp.

Member Function Documentation

◆ eventGeneratorPredicate()

bool sm_pubsub_1::StState2::eventGeneratorPredicate ( ISmaccState * st )

inline

Definition at line 71 of file st_state_2.hpp.

  {
    auto res = k > 300;
    RCLCPP_INFO(st->getLogger(), "[State2] checking k: %d  > 300 == %d", k, res);
    rclcpp::sleep_for(10ms);
    // rclcpp::Duration(10ms).sleep();
    return res;
  }

References k.

Referenced by runtimeConfigure().

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◆ onEntry()

void sm_pubsub_1::StState2::onEntry ( )

inline

Definition at line 86 of file st_state_2.hpp.

86{ RCLCPP_INFO(getLogger(), "On Entry!"); }

smacc2::ISmaccState::getLogger

rclcpp::Logger getLogger()

Definition: smacc_state.hpp:36

References smacc2::ISmaccState::getLogger().

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◆ onExit()

void sm_pubsub_1::StState2::onExit ( )

inline

Definition at line 88 of file st_state_2.hpp.

88{ RCLCPP_INFO(getLogger(), "On Exit!"); }

References smacc2::ISmaccState::getLogger().

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◆ runtimeConfigure()

void sm_pubsub_1::StState2::runtimeConfigure ( )

inline

Definition at line 63 of file st_state_2.hpp.

  {
    k = 0;
 
    auto eg = this->getEventGenerator<EgConditionalGenerator>();
    eg->setPredicateFunction([=] { return this->eventGeneratorPredicate(this); });
  }

References eventGeneratorPredicate(), and k.

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◆ staticConfigure()

static void sm_pubsub_1::StState2::staticConfigure ( )

inlinestatic

Definition at line 45 of file st_state_2.hpp.

  {
    // configure_orthogonal<OrTimer, CbTimerCountdownOnce>(10);
    // configure_orthogonal<OrSubscriber, CbWatchdogSubscriberBehavior>();
    configure_orthogonal<OrSubscriber, CbMySubscriberBehavior>();
    // configure_orthogonal<OrUpdatablePublisher, CbDefaultPublishLoop>();
    configure_orthogonal<OrKeyboard, CbDefaultKeyboardBehavior>();
 
    // Create State Reactor
    // auto sbAll = static_createStateReactor<SrAllEventsGo>();
    // sbAll->addInputEvent<EvKeyPressA<CbDefaultKeyboardBehavior, OrKeyboard>>();
    // sbAll->addInputEvent<EvKeyPressB<CbDefaultKeyboardBehavior, OrKeyboard>>();
    // sbAll->addInputEvent<EvKeyPressC<CbDefaultKeyboardBehavior, OrKeyboard>>();
    // sbAll->setOutputEvent<EvAllGo<SrAllEventsGo>>();
 
    static_createEventGenerator<EgConditionalGenerator>(ConditionalGeneratorMode::ON_UPDATE);
  }

◆ update()

void sm_pubsub_1::StState2::update ( )

inlineoverridevirtual

Implements smacc2::ISmaccUpdatable.

Definition at line 80 of file st_state_2.hpp.

  {
    k++;
    RCLCPP_INFO(getLogger(), "[State2] internally updating k: %d", k);
  }

References smacc2::ISmaccState::getLogger(), and k.

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Member Data Documentation

◆ k

int sm_pubsub_1::StState2::k = 0

static

Definition at line 42 of file st_state_2.hpp.

Referenced by eventGeneratorPredicate(), runtimeConfigure(), and update().

The documentation for this struct was generated from the following file:

smacc2_sm_reference_library/sm_pubsub_1/include/sm_pubsub_1/states/st_state_2.hpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ reactions

Member Function Documentation

◆ eventGeneratorPredicate()

◆ onEntry()

◆ onExit()

◆ runtimeConfigure()

◆ staticConfigure()

◆ update()

Member Data Documentation

◆ k