SMACC2
smacc2_sm_reference_library
sm_dance_bot_warehouse
include
sm_dance_bot_warehouse
clients
cl_led
client_behaviors
cb_led_on.hpp
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// Copyright 2021 RobosoftAI Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/*****************************************************************************************************************
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*
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* Authors: Pablo Inigo Blasco, Brett Aldrich
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*
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******************************************************************************************************************/
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#pragma once
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#include <
sm_dance_bot_warehouse/clients/cl_led/cl_led.hpp
>
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#include <
smacc2/smacc.hpp
>
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namespace
sm_dance_bot_warehouse
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{
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namespace
cl_led
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{
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class
CbLEDOn
:
public
smacc2::SmaccClientBehavior
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{
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public
:
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cl_led::ClLED
*
ledActionClient_
;
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void
onEntry
()
override
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{
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this->
requiresClient
(ledActionClient_);
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cl_led::ClLED::Goal
goal;
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goal.command = cl_led::ClLED::Goal::CMD_ON;
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ledActionClient_
->
sendGoal
(goal);
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}
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void
onExit
()
override
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{
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//RCLCPP_INFO(getLogger(),"Entering ToolClientBehavior");
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}
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};
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}
// namespace cl_led
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}
// namespace sm_dance_bot_warehouse
sm_dance_bot_warehouse::cl_led::CbLEDOn
Definition:
cb_led_on.hpp:31
sm_dance_bot_warehouse::cl_led::CbLEDOn::onExit
void onExit() override
Definition:
cb_led_on.hpp:44
sm_dance_bot_warehouse::cl_led::CbLEDOn::onEntry
void onEntry() override
Definition:
cb_led_on.hpp:35
sm_dance_bot_warehouse::cl_led::CbLEDOn::ledActionClient_
cl_led::ClLED * ledActionClient_
Definition:
cb_led_on.hpp:33
sm_dance_bot_warehouse::cl_led::ClLED
Definition:
cl_led.hpp:32
smacc2::ISmaccClientBehavior::requiresClient
void requiresClient(SmaccClientType *&storage)
Definition:
smacc_client_behavior_impl.hpp:67
smacc2::SmaccClientBehavior
Definition:
smacc_client_behavior.hpp:27
smacc2::client_bases::SmaccActionClientBase::sendGoal
std::shared_future< typename GoalHandle::SharedPtr > sendGoal(Goal &goal)
Definition:
smacc_action_client_base.hpp:239
smacc2::client_bases::SmaccActionClientBase< sm_dance_bot_warehouse::action::LEDControl >::Goal
typename ActionClient::Goal Goal
Definition:
smacc_action_client_base.hpp:49
sm_dance_bot_warehouse
Definition:
cl_led.hpp:27
smacc.hpp
cl_led.hpp
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