Program Listing for File st_detach_object.hpp
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// 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 "rclcpp/rclcpp.hpp"
#include "smacc2/smacc.hpp"
namespace sm_panda_moveit2z_cb_inventory
{
// SMACC2 classes
using smacc2::Transition;
using smacc2::default_transition_tags::SUCCESS;
using namespace smacc2;
using namespace cl_keyboard;
// STATE DECLARATION
struct StDetatchObject : smacc2::SmaccState<StDetatchObject, SmPandaMoveit2zCbInventory>
{
using SmaccState::SmaccState;
// DECLARE CUSTOM OBJECT TAGS
struct NEXT : SUCCESS{};
struct PREVIOUS : ABORT{};
// TRANSITION TABLE
typedef boost::mpl::list<
Transition<EvCbSuccess<CbDetachObject, OrArm>, StEndEffectorRotate, SUCCESS>,
Transition<EvKeyPressN<CbDefaultKeyboardBehavior, OrKeyboard>, StEndEffectorRotate, NEXT>
>
reactions;
// STATE FUNCTIONS
static void staticConfigure()
{
configure_orthogonal<OrArm, CbDetachObject>();
configure_orthogonal<OrKeyboard, CbDefaultKeyboardBehavior>();
}
void runtimeConfigure() { RCLCPP_INFO(getLogger(), "Entering StDetatchObject"); }
void onEntry() { RCLCPP_INFO(getLogger(), "On Entry!"); }
void onExit() { RCLCPP_INFO(getLogger(), "On Exit!"); }
};
} // namespace sm_panda_moveit2z_cb_inventory