state_reactor.cpp

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#include <smacc/smacc_state_reactor.h>
#include <ros/ros.h>
 
namespace smacc
{
 
StateReactor::StateReactor()
{
}
 
void StateReactor::initialize(smacc::ISmaccState *ownerState)
{
    this->ownerState = ownerState;
    this->onInitialized();
}
 
void StateReactor::onInitialized()
{
}
 
void StateReactor::onEventNotified(const std::type_info *eventType)
{
}
 
void StateReactor::onEntry()
{
 
}
 
void StateReactor::onExit()
{
 
}
 
void StateReactor::update()
{
    if (this->triggers())
    {
        ROS_INFO("State reactor base REALLY TRIGGERS!!");
        this->postEventFn();
    }
}
 
namespace introspection
{
void StateReactorHandler::configureStateReactor(std::shared_ptr<smacc::StateReactor> sb)
{
    for (auto callback : this->callbacks_)
    {
        callback.fn(sb);
    }
}
 
void EventGeneratorHandler::configureEventGenerator(std::shared_ptr<smacc::SmaccEventGenerator> eg)
{
    for (auto callback : this->callbacks_)
    {
        callback.fn(eg);
    }
}
} // namespace introspection
} // namespace smacc