.. _program_listing_file__tmp_ws_src_smacc2_smacc2_sm_reference_library_sm_dance_bot_warehouse_include_sm_dance_bot_warehouse_superstates_ss_f_pattern_1.hpp:

Program Listing for File ss_f_pattern_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_superstates_ss_f_pattern_1.hpp>` (``/tmp/ws/src/smacc2/smacc2_sm_reference_library/sm_dance_bot_warehouse/include/sm_dance_bot_warehouse/superstates/ss_f_pattern_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
    *
    ******************************************************************************************************************/
   
   #include <smacc2/smacc.hpp>
   
   namespace sm_dance_bot_warehouse
   {
   namespace f_pattern_states
   {
   enum class TDirection
   {
     LEFT,
     RIGHT
   };
   
   // FORWARD DECLARATIONS OF INNER STATES
   template <typename SS>class StiFPatternRotate1;
   template <typename SS>class StiFPatternForward1;
   template <typename SS>class StiFPatternReturn1;
   template <typename SS>class StiFPatternRotate2;
   template <typename SS>class StiFPatternForward2;
   template <typename SS>class StiFPatternStartLoop;
   template <typename SS>class StiFPatternRetryRelativeForward1;
   
   }  // namespace f_pattern_states
   }  // namespace sm_dance_bot_warehouse
   namespace sm_dance_bot_warehouse
   {
   namespace SS4
   {
   using namespace f_pattern_states;
   
   // STATE DECLARATION
   struct SsFPattern1
   : smacc2::SmaccState<SsFPattern1, MsDanceBotRunMode, StiFPatternStartLoop<SsFPattern1>>
   {
   public:
     using SmaccState::SmaccState;
   
     // TRANSITION TABLE
     typedef mpl::list<
   
       Transition<EvLoopEnd<StiFPatternStartLoop<SsFPattern1>>, StNavigateReverse4, ENDLOOP>  //,
   
       >reactions;
   
     // STATE VARIABLES
     // superstate parameters
     static constexpr float ray_lenght_meters() { return 3.25; }
     static constexpr float pitch_lenght_meters() { return 1.9; }
     static constexpr int total_iterations() { return 6; }
     static constexpr TDirection direction() { return TDirection::RIGHT; }
   
     // superstate state variables
     int iteration_count;
   
     // STATE FUNCTIONS
     static void staticConfigure()
     {
       //configure_orthogonal<OrObstaclePerception, CbLidarSensor>();
     }
   
     void runtimeConfigure() { iteration_count = 0; }
   };  // namespace SS4
   
   // FORWARD DECLARATION FOR THE SUPERSTATE
   
   }  // namespace SS4
   }  // namespace sm_dance_bot_warehouse
   
   #include <sm_dance_bot_warehouse/states/f_pattern_states/sti_fpattern_retry_relative_forward_1.hpp>
   #include <sm_dance_bot_warehouse/states/f_pattern_states/sti_fpattern_forward_1.hpp>
   #include <sm_dance_bot_warehouse/states/f_pattern_states/sti_fpattern_forward_2.hpp>
   #include <sm_dance_bot_warehouse/states/f_pattern_states/sti_fpattern_loop_start.hpp>
   #include <sm_dance_bot_warehouse/states/f_pattern_states/sti_fpattern_return_1.hpp>
   #include <sm_dance_bot_warehouse/states/f_pattern_states/sti_fpattern_rotate_1.hpp>
   #include <sm_dance_bot_warehouse/states/f_pattern_states/sti_fpattern_rotate_2.hpp>