ss_f_pattern_1.hpp

Go to the documentation of this file.

// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
 
#include <smacc2/smacc.hpp>
 
namespace sm_dance_bot_warehouse
{
namespace f_pattern_states
{
enum class TDirection
{
  LEFT,
  RIGHT
};
 
// FORWARD DECLARATIONS OF INNER STATES
template <typename SS>class StiFPatternRotate1;
template <typename SS>class StiFPatternForward1;
template <typename SS>class StiFPatternReturn1;
template <typename SS>class StiFPatternRotate2;
template <typename SS>class StiFPatternForward2;
template <typename SS>class StiFPatternStartLoop;
template <typename SS>class StiFPatternRetryRelativeForward1;
 
}  // namespace f_pattern_states
}  // namespace sm_dance_bot_warehouse
namespace sm_dance_bot_warehouse
{
namespace SS4
{
using namespace f_pattern_states;
 
// STATE DECLARATION
struct SsFPattern1
: smacc2::SmaccState<SsFPattern1, MsDanceBotRunMode, StiFPatternStartLoop<SsFPattern1>>
{
public:
  using SmaccState::SmaccState;
 
  // TRANSITION TABLE
  typedef mpl::list<
 
    Transition<EvLoopEnd<StiFPatternStartLoop<SsFPattern1>>, StNavigateReverse4, ENDLOOP>  //,
 
    >reactions;
 
  // STATE VARIABLES
  // superstate parameters
  static constexpr float ray_lenght_meters() { return 3.25; }
  static constexpr float pitch_lenght_meters() { return 1.9; }
  static constexpr int total_iterations() { return 6; }
  static constexpr TDirection direction() { return TDirection::RIGHT; }
 
  // superstate state variables
  int iteration_count;
 
  // STATE FUNCTIONS
  static void staticConfigure()
  {
    //configure_orthogonal<OrObstaclePerception, CbLidarSensor>();
  }
 
  void runtimeConfigure() { iteration_count = 0; }
};  // namespace SS4
 
// FORWARD DECLARATION FOR THE SUPERSTATE
 
}  // namespace SS4
}  // namespace sm_dance_bot_warehouse
 
#include <sm_dance_bot_warehouse/states/f_pattern_states/sti_fpattern_retry_relative_forward_1.hpp>
#include <sm_dance_bot_warehouse/states/f_pattern_states/sti_fpattern_forward_1.hpp>
#include <sm_dance_bot_warehouse/states/f_pattern_states/sti_fpattern_forward_2.hpp>
#include <sm_dance_bot_warehouse/states/f_pattern_states/sti_fpattern_loop_start.hpp>
#include <sm_dance_bot_warehouse/states/f_pattern_states/sti_fpattern_return_1.hpp>
#include <sm_dance_bot_warehouse/states/f_pattern_states/sti_fpattern_rotate_1.hpp>
#include <sm_dance_bot_warehouse/states/f_pattern_states/sti_fpattern_rotate_2.hpp>