Program Listing for File st_acquire_sensors.hpp
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// 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_dance_bot
{
using namespace smacc2::default_events;
// STATE DECLARATION
struct StAcquireSensors : smacc2::SmaccState<StAcquireSensors, MsDanceBotRunMode>
{
using SmaccState::SmaccState;
// DECLARE CUSTOM OBJECT TAGS
struct ON_SENSORS_AVAILABLE : SUCCESS{};
struct SrAcquireSensors;
// TRANSITION TABLE
typedef mpl::list<
Transition<EvAllGo<SrAllEventsGo, SrAcquireSensors>, StEventCountDown, ON_SENSORS_AVAILABLE>,
Transition<EvGlobalError, MsDanceBotRecoveryMode>
>reactions;
// STATE FUNCTIONS
static void staticConfigure()
{
configure_orthogonal<OrObstaclePerception, CbLidarSensor>();
configure_orthogonal<OrStringPublisher, CbStringPublisher>("Hello World!");
configure_orthogonal<OrTemperatureSensor, CbConditionTemperatureSensor>();
configure_orthogonal<OrService3, CbService3>(Service3Command::SERVICE3_ON);
configure_orthogonal<OrUpdatablePublisher, cl_ros_publisher::CbDefaultPublishLoop>();
configure_orthogonal<OrNavigation, CbWaitPose>();
// Create State Reactor
auto srAllSensorsReady = static_createStateReactor<
SrAllEventsGo, smacc2::state_reactors::EvAllGo<SrAllEventsGo, SrAcquireSensors>,
mpl::list<
EvTopicMessage<CbLidarSensor, OrObstaclePerception>,
EvTopicMessage<CbConditionTemperatureSensor, OrTemperatureSensor>,
EvCbSuccess<CbWaitPose, OrNavigation>>>();
}
};
} // namespace sm_dance_bot