.. _program_listing_file__tmp_ws_src_smacc2_smacc2_sm_reference_library_sm_multi_panda_sim_sm_multi_panda_sim_include_sm_multi_panda_sim_sm_multi_panda_sim.hpp:

Program Listing for File sm_multi_panda_sim.hpp
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_smacc2_smacc2_sm_reference_library_sm_multi_panda_sim_sm_multi_panda_sim_include_sm_multi_panda_sim_sm_multi_panda_sim.hpp>` (``/tmp/ws/src/smacc2/smacc2_sm_reference_library/sm_multi_panda_sim/sm_multi_panda_sim/include/sm_multi_panda_sim/sm_multi_panda_sim.hpp``)

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

.. code-block:: cpp

   // Copyright 2021 MyName/MyCompany Inc.
   // Copyright 2021 RobosoftAI Inc. (template)
   //
   // 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 <memory>
   
   #include "rclcpp/rclcpp.hpp"
   #include "smacc2/smacc.hpp"
   #include <boost/mpl/list.hpp>
   
   // CLIENT BEHAVIORS
   #include <ros_publisher_client/client_behaviors/cb_default_publish_loop.hpp>
   #include <ros_publisher_client/client_behaviors/cb_muted_behavior.hpp>
   #include <ros_publisher_client/client_behaviors/cb_publish_once.hpp>
   
   // #include <sm_pack_ml/clients/cl_subscriber/client_behaviors/cb_default_subscriber_behavior.hpp>
   // #include <sm_pack_ml/clients/cl_subscriber/client_behaviors/cb_watchdog_subscriber_behavior.hpp>
   
   #include <keyboard_client/client_behaviors/cb_default_keyboard_behavior.hpp>
   
   //#include <ros_timer_client/client_behaviors/cb_ros_timer.hpp>
   #include <ros_timer_client/client_behaviors/cb_timer_countdown_once.hpp>
   
   // STATE REACTORS
   #include <sr_all_events_go/sr_all_events_go.hpp>
   
   // ORTHOGONALS
   #include "orthogonals/or_arm_left.hpp"
   #include "orthogonals/or_arm_right.hpp"
   #include "orthogonals/or_timer.hpp"
   #include "orthogonals/or_keyboard.hpp"
   #include "orthogonals/or_updatable_publisher.hpp"
   
   // CLIENTS
   #include <moveit2z_client/cl_moveit2z.hpp>
   #include <moveit2z_client/client_behaviors.hpp>
   
   // CLIENT BEHAVIORS
   #include <smacc2/client_behaviors/cb_wait_topic_message.hpp>
   #include "clients/move_group/client_behaviors/cb_wait_joint_states.hpp"
   #include "clients/move_group/client_behaviors/cb_sleep_for.hpp"
   #include "clients/move_group/client_behaviors/cb_move_synchronized_link_goals.hpp"
   
   namespace sm_multi_panda_sim
   {
   
   using namespace cl_moveit2z;
   using namespace cl_ros_timer;
   using namespace cl_keyboard;
   using namespace boost;
   using namespace smacc2;
   
   using namespace smacc2::default_events;
   
   // STATES
   struct StAcquireSensors;
   class StLeftArmMoves;
   class StRightArmMoves;
   class StBothArmsMove;
   
   struct EvToDeep : sc::event<EvToDeep>
   {
   };
   
   struct EvFail : sc::event<EvFail>
   {
   };
   
   struct EvSc : sc::event<EvSc>
   {
   };
   
   struct EvStart : sc::event<EvStart>
   {
   };
   
   struct EvReset : sc::event<EvReset>
   {
   };
   
   struct EvSuspend : sc::event<EvSuspend>
   {
   };
   
   struct EvUnSuspend : sc::event<EvUnSuspend>
   {
   };
   
   struct EvHold : sc::event<EvHold>
   {
   };
   
   struct EvUnhold : sc::event<EvUnhold>
   {
   };
   
   struct EvStop : sc::event<EvStop>
   {
   };
   
   struct EvClear : sc::event<EvClear>
   {
   };
   
   //--------------------------------------------------------------------
   // STATE_MACHINE
   struct SmMultiPandaSim : public smacc2::SmaccStateMachineBase<SmMultiPandaSim, StAcquireSensors>
   {
     using SmaccStateMachineBase::SmaccStateMachineBase;
   
     void onInitialize() override
     {
       this->createOrthogonal<OrArmLeft>();
       this->createOrthogonal<OrArmRight>();
     }
   };
   
   }  // namespace sm_multi_panda_sim
   
   // STATES
   #include "states/st_acquire_sensors.hpp"
   
   #include "states/st_left_arm_moves.hpp"
   #include "states/st_right_arm_moves.hpp"
   #include "states/st_both_arms_move.hpp"