Program Listing for File st_state_1.hpp

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// 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.

#include <smacc2/smacc.hpp>

namespace sm_atomic_openai {
using namespace cl_ros_timer;
using namespace smacc2::default_transition_tags;

// STATE DECLARATION
struct State1 : smacc2::SmaccState<State1, SmAtomicOpenAI> {
  using SmaccState::SmaccState;

  // TRANSITION TABLE
  typedef mpl::list<
      Transition<EvTimer<CbTimerCountdownOnce, OrTimer>, State2, SUCCESS> >
      reactions;

  // STATE FUNCTIONS
  static void staticConfigure() {
    // EvTimer triggers each 3 client ticks
    // configure_orthogonal<OrTimer, CbTimerCountdownLoop>(3);
    // EvTimer triggers once at 10 client ticks
    configure_orthogonal<OrTimer, CbTimerCountdownOnce>(5);
  }

  void runtimeConfigure() {}

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

  void onExit() { RCLCPP_INFO(getLogger(), "On Exit!"); }
};
}  // namespace sm_atomic_openai