.. _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_rotate_3.hpp:

Program Listing for File sti_spattern_rotate_3.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_rotate_3.hpp>` (``/tmp/ws/src/smacc2/smacc2_sm_reference_library/sm_dance_bot_warehouse/include/sm_dance_bot_warehouse/states/s_pattern_states/sti_spattern_rotate_3.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 StiSPatternRotate3 : smacc2::SmaccState<StiSPatternRotate3, SS>
   {
     using SmaccState::SmaccState;
   
     // TRANSITION TABLE
     typedef mpl::list<
   
       Transition<EvCbSuccess<CbAbsoluteRotate, OrNavigation>, StiSPatternForward3> ,
       Transition<EvCbFailure<CbAbsoluteRotate, OrNavigation>, StiSPatternRotate3>
   
       >reactions;
   
     // STATE FUNCTIONS
     static void staticConfigure() {}
   
     void runtimeConfigure()
     {
       auto & superstate = this->context<SS>();
       RCLCPP_INFO(
         getLogger(), "[StiSPatternRotate] SpatternRotate rotate: SS current iteration: %d/%d",
         superstate.iteration_count, SS::total_iterations());
   
       float offset = 90;
       // float angle = 0;
       // if (superstate.direction() == TDirection::LEFT)
       //     angle = -90 - offset;
       // else
       //     angle = +90 + offset;
   
       // this->configure<OrNavigation, CbRotate>(angle);
   
       if (superstate.direction() == TDirection::RIGHT)
       {
         // - offset because we are looking to the north and we have to turn clockwise
         this->configure<OrNavigation, CbAbsoluteRotate>(0 - offset);
       }
       else
       {
         // - offset because we are looking to the south and we have to turn counter-clockwise
         this->configure<OrNavigation, CbAbsoluteRotate>(180 + offset);
       }
   
       this->configure<OrNavigation, CbResumeSlam>();
       this->configure<OrLED, CbLEDOff>();
     }
   };
   }  // namespace s_pattern_states
   }  // namespace sm_dance_bot_warehouse