.. _program_listing_file__tmp_ws_src_smacc2_smacc2_include_smacc2_smacc_state.hpp:

Program Listing for File smacc_state.hpp
========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_smacc2_smacc2_include_smacc2_smacc_state.hpp>` (``/tmp/ws/src/smacc2/smacc2/include/smacc2/smacc_state.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/common.hpp>
   
   namespace smacc2
   {
   class ISmaccState
   {
   public:
     virtual ISmaccStateMachine & getStateMachine() = 0;
   
     virtual std::string getName() = 0;
   
     inline ISmaccState * getParentState() { return parentState_; }
   
     inline rclcpp::Node::SharedPtr & getNode() { return node_; }
   
     inline rclcpp::Logger getLogger() { return *logger_; }
   
     virtual std::string getClassName();
   
     template <typename TOrthogonal, typename TBehavior, typename... Args>
     std::shared_ptr<TBehavior> configure(Args &&... args);
   
     template <typename SmaccComponentType>
     void requiresComponent(SmaccComponentType *& storage);
   
     template <typename SmaccClientType>
     void requiresClient(SmaccClientType *& storage);
   
     template <typename T>
     bool getGlobalSMData(std::string name, T & ret);
   
     // Store globally in this state machine. (By value parameter )
     template <typename T>
     void setGlobalSMData(std::string name, T value);
   
     template <
       typename TStateReactor, typename TTriggerEvent, typename TEventList, typename... TEvArgs>
     std::shared_ptr<TStateReactor> createStateReactor(TEvArgs... args);
   
     template <typename TStateReactor, typename... TEvArgs>
     std::shared_ptr<TStateReactor> createStateReactor(TEvArgs... args);
   
     template <typename TEventGenerator, typename... TEvArgs>
     std::shared_ptr<TEventGenerator> createEventGenerator(TEvArgs... args);
   
     template <typename EventType>
     void postEvent(const EventType & ev);
   
     template <typename EventType>
     void postEvent();
   
     // used for transition logging
     template <typename TransitionType>
     void notifyTransition();
   
     // used for transition logging
     void notifyTransitionFromTransitionTypeInfo(
       std::shared_ptr<smacc2::introspection::TypeInfo> & transitionTypeInfo);
   
     inline std::vector<std::shared_ptr<StateReactor>> & getStateReactors() { return stateReactors_; }
   
     inline std::vector<std::shared_ptr<SmaccEventGenerator>> & getEventGenerators()
     {
       return eventGenerators_;
     }
   
     template <typename TOrthogonal>
     TOrthogonal * getOrthogonal();
   
     // gets the client behavior given the client type and orthogonal type
     // if the client behavior is not found, it returns nullptr
     // the index parameter is used to specify the client behavior in case there are more than one
     template <typename TOrthogonal, typename TClientBehavior>
     TClientBehavior * getClientBehavior(int index = 0);
   
     template <typename TEventGenerator>
     TEventGenerator * getEventGenerator();
   
     template <typename TStateReactor>
     TStateReactor * getStateReactor();
   
   protected:
     rclcpp::Node::SharedPtr node_;
     std::shared_ptr<rclcpp::Logger> logger_;
     std::vector<std::shared_ptr<StateReactor>> stateReactors_;
     std::vector<std::shared_ptr<smacc2::SmaccEventGenerator>> eventGenerators_;
   
     ISmaccState * parentState_;
   
     const smacc2::introspection::SmaccStateInfo * stateInfo_;
   };
   }  // namespace smacc2