.. _program_listing_file__tmp_ws_src_smacc2_smacc2_sm_reference_library_sm_dance_bot_warehouse_include_sm_dance_bot_warehouse_superstates_ss_s_pattern_2.hpp:

Program Listing for File ss_s_pattern_2.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_s_pattern_2.hpp>` (``/tmp/ws/src/smacc2/smacc2_sm_reference_library/sm_dance_bot_warehouse/include/sm_dance_bot_warehouse/superstates/ss_s_pattern_2.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 SS6
   {
   namespace sm_dance_bot_warehouse
   {
   namespace s_pattern_states
   {
   // FORWARD DECLARATIONS OF INNER STATES
   class StiSPatternRotate1;
   class StiSPatternForward1;
   class StiSPatternRotate2;
   class StiSPatternForward2;
   class StiSPatternRotate3;
   class StiSPatternForward3;
   class StiSPatternRotate4;
   class StiSPatternForward4;
   class StiSPatternLoopStart;
   }  // namespace s_pattern_states
   }  // namespace sm_dance_bot_warehouse
   
   enum class TDirection
   {
     LEFT,
     RIGHT
   };
   
   using namespace sm_dance_bot_warehouse::s_pattern_states;
   
   // STATE DECLARATION
   struct SsSPattern2 : smacc2::SmaccState<SsSPattern2, MsDanceBotRunMode, StiSPatternLoopStart>
   {
   public:
     using SmaccState::SmaccState;
   
     // TRANSITION TABLE
     typedef mpl::list<
   
       Transition<EvLoopEnd<StiSPatternLoopStart>, StNavigateToWaypoint1, ENDLOOP>
   
       >reactions;
   
     // STATE FUNCTIONS
     static void staticConfigure()
     {
       //configure_orthogonal<OrObstaclePerception, CbLidarSensor>();
     }
   
     static constexpr float pitch1_lenght_meters() { return 0.35; }
     static constexpr float pitch2_lenght_meters() { return 1.45; }
     static constexpr int total_iterations() { return 9; }
     static constexpr TDirection direction() { return TDirection::RIGHT; }
   
     int iteration_count;
   
     void runtimeConfigure() { this->iteration_count = 0; }
   };
   
   // FORWARD DECLARATION FOR THE SUPERSTATE
   using SS = SsSPattern2;
   #include <sm_dance_bot_warehouse/states/s_pattern_states/sti_spattern_forward_1.hpp>
   #include <sm_dance_bot_warehouse/states/s_pattern_states/sti_spattern_forward_2.hpp>
   #include <sm_dance_bot_warehouse/states/s_pattern_states/sti_spattern_forward_3.hpp>
   #include <sm_dance_bot_warehouse/states/s_pattern_states/sti_spattern_forward_4.hpp>
   #include <sm_dance_bot_warehouse/states/s_pattern_states/sti_spattern_loop_start.hpp>
   #include <sm_dance_bot_warehouse/states/s_pattern_states/sti_spattern_rotate_1.hpp>
   #include <sm_dance_bot_warehouse/states/s_pattern_states/sti_spattern_rotate_2.hpp>
   #include <sm_dance_bot_warehouse/states/s_pattern_states/sti_spattern_rotate_3.hpp>
   #include <sm_dance_bot_warehouse/states/s_pattern_states/sti_spattern_rotate_4.hpp>
   }  // namespace SS6
   }  // namespace sm_dance_bot_warehouse