.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_husky_barrel_search_1_include_sm_husky_barrel_search_1_states_st_acquire_sensors.hpp:

Program Listing for File st_acquire_sensors.hpp
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_husky_barrel_search_1_include_sm_husky_barrel_search_1_states_st_acquire_sensors.hpp>` (``/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_husky_barrel_search_1/include/sm_husky_barrel_search_1/states/st_acquire_sensors.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
    *
    ******************************************************************************************************************/
   
   #pragma once
   
   #include <smacc2/smacc.hpp>
   
   namespace sm_husky_barrel_search_1
   {
   using namespace smacc2::default_events;
   
   // STATE DECLARATION
   struct StAcquireSensors : smacc2::SmaccState<StAcquireSensors, SmHuskyBarrelSearch1>
   {
     using SmaccState::SmaccState;
   
     // DECLARE CUSTOM OBJECT TAGS
     struct ON_SENSORS_AVAILABLE : SUCCESS
     {
     };
     struct SrAcquireSensors;
   
     // TRANSITION TABLE
     typedef mpl::list<
   
       // Transition<EvAllGo<SrAllEventsGo, SrAcquireSensors>, StNavigateWaypointsX>,
       // Transition<EvGlobalError, MsDanceBotRecoveryMode>
       // smacc2::Transition<
       //   smacc2::EvCbSuccess<cl_nav2z::CbWaitPose, OrNavigation>, StNavigateToWaypointX>,
   
       smacc2::Transition<smacc2::EvCbSuccess<cl_nav2z::CbWaitNav2Nodes, OrNavigation>, StNavigateToWaypointX, SUCCESS>,
   
       smacc2::Transition<
         smacc2::EvCbFailure<cl_nav2z::CbWaitPose, OrNavigation>, StNavigateToWaypointX>
       >
       reactions;
   
     // STATE FUNCTIONS
     static void staticConfigure()
     {
       // configure_orthogonal<OrNavigation, CbLidarSensor>();
       configure_orthogonal<OrNavigation, cl_nav2z::CbWaitPose>();
       configure_orthogonal<OrNavigation, cl_nav2z::CbWaitNav2Nodes>();
   
       // Create State Reactor
       // auto srAllSensorsReady = static_createStateReactor<
       //   SrAllEventsGo, smacc2::state_reactors::EvAllGo<SrAllEventsGo, SrAcquireSensors>,
       //   mpl::list<
       //     EvTopicMessage<CbLidarSensor, OrNavigation>,
       //     // EvTopicMessage<CbConditionTemperatureSensor, OrTemperatureSensor>,
       //     EvCbSuccess<CbWaitPose, OrNavigation>>>();
     }
   };
   }  // namespace sm_husky_barrel_search_1