.. _program_listing_file__tmp_ws_src_smacc2_smacc2_sm_reference_library_sm_dance_bot_warehouse_include_sm_dance_bot_warehouse_sm_dance_bot_warehouse.hpp:

Program Listing for File sm_dance_bot_warehouse.hpp
===================================================

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.. code-block:: cpp

   // 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>
   
   #include <sensor_msgs/msg/laser_scan.hpp>
   
   // CLIENT BEHAVIORS
   #include <ros_timer_client/client_behaviors/cb_ros_timer.hpp>
   
   #include <multirole_sensor_client/client_behaviors/cb_default_multirole_sensor_behavior.hpp>
   
   #include <nav2z_client/client_behaviors.hpp>
   #include <nav2z_client/nav2z_client.hpp>
   
   using namespace cl_nav2z;
   
   #include <sm_dance_bot_warehouse/clients/cl_led/client_behaviors/cb_led_off.hpp>
   #include <sm_dance_bot_warehouse/clients/cl_led/client_behaviors/cb_led_on.hpp>
   
   #include <sm_dance_bot_warehouse/clients/cl_lidar/client_behaviors/cb_lidar_sensor.hpp>
   #include <sm_dance_bot_warehouse/clients/cl_lidar/components/cp_forward_obstacle_detector.hpp>
   
   #include <sm_dance_bot_warehouse/clients/cl_nav2z/components/cp_square_shape_bondary.hpp>
   
   #include <sm_dance_bot_warehouse/clients/cl_temperature_sensor/client_behaviors/cb_custom_condition_temperature_sensor.hpp>
   
   #include <sm_dance_bot_warehouse/clients/cl_service3/client_behaviors/cb_service3.hpp>
   #include <sm_dance_bot_warehouse/clients/cl_string_publisher/client_behaviors/cb_string_publisher.hpp>
   
   #include <ros_publisher_client/client_behaviors/cb_default_publish_loop.hpp>
   #include <ros_publisher_client/client_behaviors/cb_muted_behavior.hpp>
   #include <ros_publisher_client/client_behaviors/cb_publish_once.hpp>
   
   #include <ros_publisher_client/cl_ros_publisher.hpp>
   
   using namespace sm_dance_bot_warehouse::cl_lidar;
   using namespace sm_dance_bot_warehouse::cl_service3;
   using namespace sm_dance_bot_warehouse::cl_string_publisher;
   using namespace sm_dance_bot_warehouse::cl_temperature_sensor;
   using namespace sm_dance_bot_warehouse::cl_led;
   
   //STATE REACTORS
   #include <sr_all_events_go/sr_all_events_go.hpp>
   #include <sr_conditional/sr_conditional.hpp>
   #include <sr_event_countdown/sr_event_countdown.hpp>
   
   using namespace smacc2::state_reactors;
   
   // ORTHOGONALS
   #include <sm_dance_bot_warehouse/orthogonals/or_led.hpp>
   #include <sm_dance_bot_warehouse/orthogonals/or_navigation.hpp>
   #include <sm_dance_bot_warehouse/orthogonals/or_obstacle_perception.hpp>
   #include <sm_dance_bot_warehouse/orthogonals/or_service3.hpp>
   #include <sm_dance_bot_warehouse/orthogonals/or_string_publisher.hpp>
   #include <sm_dance_bot_warehouse/orthogonals/or_temperature_sensor.hpp>
   #include <sm_dance_bot_warehouse/orthogonals/or_timer.hpp>
   #include <sm_dance_bot_warehouse/orthogonals/or_updatable_publisher.hpp>
   
   namespace sm_dance_bot_warehouse
   {
   //STATE FORWARD DECLARATIONS
   class StAcquireSensors;
   class StEventCountDown;
   
   class StNavigateForward1;
   class StNavigateToWaypoint1;
   class StNavigateToWaypointsX;
   
   class StRotateDegrees1;
   class StRotateDegrees2;
   class StRotateDegrees3;
   class StRotateDegrees4;
   class StRotateDegrees5;
   class StRotateDegrees6;
   
   class StNavigateReverse1;
   class StNavigateReverse2;
   class StNavigateReverse3;
   class StNavigateReverse4;
   
   //SUPERSTATE FORWARD DECLARATIONS
   //MODE STATES FORWARD DECLARATIONS
   class MsDanceBotRunMode;
   class MsDanceBotRecoveryMode;
   
   namespace SS1
   {
   class SsRadialPattern1;
   }
   
   namespace SS2
   {
   class SsRadialPattern2;
   }
   
   namespace SS3
   {
   class SsRadialPattern3;
   }
   
   namespace SS4
   {
   class SsFPattern1;
   }
   
   namespace SS5
   {
   class SsSPattern1;
   }
   
   namespace SS6
   {
   class SsSPattern2;
   }
   
   // custom smd_dance_bot event
   struct EvGlobalError : sc::event<EvGlobalError>
   {
   };
   
   }  // namespace sm_dance_bot_warehouse
   
   using namespace sm_dance_bot_warehouse;
   using namespace cl_ros_timer;
   using namespace smacc2;
   
   namespace sm_dance_bot_warehouse
   {
   struct SmDanceBotWarehouse : public smacc2::SmaccStateMachineBase<SmDanceBotWarehouse, MsDanceBotRunMode>
   {
     int counter_1;
     bool rt_ready_flag;
   
     typedef mpl::bool_<false> shallow_history;
     typedef mpl::bool_<false> deep_history;
     typedef mpl::bool_<false> inherited_deep_history;
   
     using SmaccStateMachineBase::SmaccStateMachineBase;
   
     void onInitialize() override
     {
       this->setGlobalSMData("counter_1", counter_1);
       this->setGlobalSMData("rt_ready_flag", rt_ready_flag);
   
       this->createOrthogonal<OrNavigation>();
       this->createOrthogonal<OrObstaclePerception>();
       this->createOrthogonal<OrLED>();
       this->createOrthogonal<OrTemperatureSensor>();
       this->createOrthogonal<OrStringPublisher>();
       this->createOrthogonal<OrService3>();
       this->createOrthogonal<OrTimer>();
       this->createOrthogonal<OrUpdatablePublisher>();
     }
   };
   
   }  // namespace sm_dance_bot_warehouse
   
   //MODE STATES
   #include <sm_dance_bot_warehouse/modestates/ms_dance_bot_run_mode.hpp>
   
   #include <sm_dance_bot_warehouse/modestates/ms_dance_bot_recovery_mode.hpp>
   
   //SUPERSTATES
   #include <sm_dance_bot_warehouse/superstates/ss_f_pattern_1.hpp>
   #include <sm_dance_bot_warehouse/superstates/ss_radial_pattern_1.hpp>
   #include <sm_dance_bot_warehouse/superstates/ss_radial_pattern_2.hpp>
   #include <sm_dance_bot_warehouse/superstates/ss_radial_pattern_3.hpp>
   #include <sm_dance_bot_warehouse/superstates/ss_s_pattern_1.hpp>
   #include <sm_dance_bot_warehouse/superstates/ss_s_pattern_2.hpp>
   
   //STATES
   #include <sm_dance_bot_warehouse/states/st_acquire_sensors.hpp>
   #include <sm_dance_bot_warehouse/states/st_event_count_down.hpp>
   
   #include <sm_dance_bot_warehouse/states/st_navigate_to_waypoints_x.hpp>
   
   #include <sm_dance_bot_warehouse/states/st_navigate_forward_1.hpp>
   #include <sm_dance_bot_warehouse/states/st_navigate_reverse_1.hpp>
   #include <sm_dance_bot_warehouse/states/st_navigate_reverse_2.hpp>
   #include <sm_dance_bot_warehouse/states/st_navigate_reverse_3.hpp>
   #include <sm_dance_bot_warehouse/states/st_navigate_reverse_4.hpp>
   #include <sm_dance_bot_warehouse/states/st_navigate_to_waypoint_1.hpp>
   #include <sm_dance_bot_warehouse/states/st_rotate_degrees_1.hpp>
   #include <sm_dance_bot_warehouse/states/st_rotate_degrees_2.hpp>
   #include <sm_dance_bot_warehouse/states/st_rotate_degrees_3.hpp>
   #include <sm_dance_bot_warehouse/states/st_rotate_degrees_4.hpp>
   #include <sm_dance_bot_warehouse/states/st_rotate_degrees_5.hpp>
   #include <sm_dance_bot_warehouse/states/st_rotate_degrees_6.hpp>