.. _program_listing_file__tmp_ws_src_smacc2_smacc2_sm_reference_library_sm_dance_bot_warehouse_include_sm_dance_bot_warehouse_states_s_pattern_states_sti_spattern_forward_1.hpp:

Program Listing for File sti_spattern_forward_1.hpp
===================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_smacc2_smacc2_sm_reference_library_sm_dance_bot_warehouse_include_sm_dance_bot_warehouse_states_s_pattern_states_sti_spattern_forward_1.hpp>` (``/tmp/ws/src/smacc2/smacc2_sm_reference_library/sm_dance_bot_warehouse/include/sm_dance_bot_warehouse/states/s_pattern_states/sti_spattern_forward_1.hpp``)

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

.. 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
    *
    ******************************************************************************************************************/
   
   namespace sm_dance_bot_warehouse
   {
   namespace s_pattern_states
   {
   // STATE DECLARATION
   struct StiSPatternForward1 : public smacc2::SmaccState<StiSPatternForward1, SS>
   {
     using SmaccState::SmaccState;
   
     // TRANSITION TABLE
     typedef mpl::list<
   
       Transition<EvCbSuccess<CbNavigateForward, OrNavigation>, StiSPatternRotate2>
       // ,
       // Transition<EvCbFailure<CbNavigateForward, OrNavigation>, StiSPatternRotate1>
   
       >reactions;
   
     // STATE FUNCTIONS
     static void staticConfigure()
     {
       configure_orthogonal<OrLED, CbLEDOn>();
       configure_orthogonal<OrNavigation, CbNavigateForward>();
       configure_orthogonal<OrNavigation, CbResumeSlam>();
     }
   
     void runtimeConfigure()
     {
   
       double extrasecurityMargin = 0.1;
   
       auto forwardBehavior =
         this->getClientBehavior<OrNavigation,CbNavigateForward>();
   
       cl_lidar::ClLidarSensor * lidarClient;
       this->requiresClient(lidarClient);
       auto lidarData = lidarClient->getComponent<CpForwardObstacleDetector>();
   
       float fwdist = lidarData->getForwardDistance(25);
       if (!std::isnan(fwdist))
         forwardBehavior->setForwardDistance(
           std::min(SS::pitch1_lenght_meters(), (float)(fwdist -extrasecurityMargin))); /*extra security margin for easy dynamic implementation of dynamic-smotion*/
   
       else
         forwardBehavior->setForwardDistance( SS::pitch1_lenght_meters());
     }
   };
   }  // namespace s_pattern_states
   }  // namespace sm_dance_bot_warehouse