.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_autoware_avp_include_sm_autoware_avp_states_st_navigate_waypoint_1.hpp:

Program Listing for File st_navigate_waypoint_1.hpp
===================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_autoware_avp_include_sm_autoware_avp_states_st_navigate_waypoint_1.hpp>` (``/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_autoware_avp/include/sm_autoware_avp/states/st_navigate_waypoint_1.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 MyName/MyCompany Inc.
   // Copyright 2021 RobosoftAI Inc. (template)
   //
   // 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
    *
    ******************************************************************************************************************/
   
   #pragma once
   
   #include "rclcpp/rclcpp.hpp"
   #include "smacc2/smacc.hpp"
   
   // CLIENTS
   #include "ros_timer_client/cl_ros_timer.hpp"
   #include "ros_timer_client/client_behaviors/cb_timer_countdown_loop.hpp"
   #include "ros_timer_client/client_behaviors/cb_timer_countdown_once.hpp"
   
   // ORTHOGONALS
   #include "sm_autoware_avp/orthogonals/or_autoware_auto.hpp"
   
   namespace sm_autoware_avp
   {
   // SMACC2 clases
   using sm_autoware_avp::clients::autoware_client::CbNavigateGlobalPosition;
   using namespace sm_autoware_avp::clients;
   
   using smacc2::EvStateRequestFinish;
   using smacc2::Transition;
   using smacc2::default_transition_tags::SUCCESS;
   using smacc2::default_transition_tags::DEFAULT;
   
   struct REPLAN:  smacc2::default_transition_tags::CONTINUELOOP { };
   
   // STATE DECLARATION
   struct StNavigateWaypoint1 : smacc2::SmaccState<StNavigateWaypoint1, SmAutowareAvp>
   {
     using SmaccState::SmaccState;
   
     // TRANSITION TABLE
     typedef boost::mpl::list<
   
         // smacc2::EvCbSuccess<CbNavigateGlobalPosition, OrAutowareAuto>, StNavigateWaypoint2, SUCCESS>,
         Transition<EvGoalReached<ClAutoware, OrAutowareAuto>, StFirstPause, SUCCESS>,
         Transition<EvTimer<CbTimerCountdownOnce, OrTimer>, StNavigateWaypoint1, REPLAN>
   
       >
       reactions;
   
     // STATE FUNCTIONS
     static void staticConfigure()
     {
       geometry_msgs::msg::PoseStamped goal;
   
       goal.header.frame_id = "map";
       goal.pose.position.x = -45.253597259521484;
       goal.pose.position.y = 93.64368438720703;
       goal.pose.position.z = 0;
   
       goal.pose.orientation.z = 0.34841036522579555;
       goal.pose.orientation.w = 0.9373421026515494;
   
       configure_orthogonal<OrAutowareAuto, CbNavigateGlobalPosition>(goal);
       configure_orthogonal<OrTimer, CbTimerCountdownOnce>(5);
     }
   
     void runtimeConfigure() { RCLCPP_INFO(getLogger(), "Entering StNavigateWaypoint1"); }
   
     void onEntry() { RCLCPP_INFO(getLogger(), "On Entry!"); }
   
     void onExit() { RCLCPP_INFO(getLogger(), "On Exit!"); }
   };
   }  // namespace sm_autoware_avp