SMACC2
st_navigate_forward_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
15/*****************************************************************************************************************
16 *
17 * Authors: Pablo Inigo Blasco, Brett Aldrich
18 *
19 ******************************************************************************************************************/
20
21#pragma once
22
24#include <smacc2/smacc.hpp>
25
27{
28 using ::cl_nav2z::ClNav2Z;
29
30// STATE DECLARATION
31struct StNavigateForward1 : smacc2::SmaccState<StNavigateForward1, MsDanceBotRunMode>
32{
33 using SmaccState::SmaccState;
34
35 // TRANSITION TABLE
36 typedef mpl::list<
37
38 Transition<EvCbSuccess<CbNavigateForward, OrNavigation>, StRotateDegrees2>,
39 Transition<EvCbFailure<CbNavigateForward, OrNavigation>, StNavigateForward1, ABORT>
40 //, Transition<EvActionPreempted<ClNav2Z, OrNavigation>, StNavigateToWaypointsX, PREEMPT>
41
43
44 // STATE FUNCTIONS
45 static void staticConfigure()
46 {
47 configure_orthogonal<OrNavigation, CbNavigateForward>(1);
48 configure_orthogonal<OrNavigation, CbPauseSlam>();
49 configure_orthogonal<OrLED, CbLEDOff>();
50 configure_orthogonal<OrObstaclePerception, CbLidarSensor>();
51 }
52
54 {
55 ClNav2Z * move_base_action_client;
56 this->requiresClient(move_base_action_client);
57
58 // we careful with the lifetime of the callbac, us a scoped connection if is not forever
59 move_base_action_client->onSucceeded(&StNavigateForward1::onActionClientSucceeded, this);
60 }
61
63 {
64 RCLCPP_INFO_STREAM(
65 getLogger(),
66 " [Callback SmaccSignal] Success Detected from StAcquireSensors (connected to client signal), "
67 "result data: "
68 << msg.result);
69 }
70};
71} // namespace sm_dance_bot_warehouse
rclcpp::Logger getLogger()
Definition: smacc_state.hpp:36
void requiresClient(SmaccClientType *&storage)
Base::WrappedResult WrappedResult
void onActionClientSucceeded(ClNav2Z::WrappedResult &msg)
mpl::list< Transition< EvCbSuccess< CbNavigateForward, OrNavigation >, StRotateDegrees2 >, Transition< EvCbFailure< CbNavigateForward, OrNavigation >, StNavigateForward1, ABORT > > reactions