Program Listing for File st_event_count_down.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
{
// STATE DECLARATION
struct StEventCountDown : smacc2::SmaccState<StEventCountDown, MsDanceBotRunMode>
{
using SmaccState::SmaccState;
// TRANSITION TABLE
typedef mpl::list<
Transition<EvCountdownEnd<SrEventCountdown>, StNavigateToWaypointsX>,
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);
// Create State Reactor
//auto srCountdown = static_createStateReactor<SrEventCountdown>(5);
//srCountdown->addInputEvent<EvTimer<ClRosTimer, OrTimer>>();
//srCountdown->setOutputEvent<EvCountdownEnd<SrEventCountdown>>();
auto srCountdown = static_createStateReactor<
SrEventCountdown, EvCountdownEnd<SrEventCountdown>, mpl::list<EvTimer<ClRosTimer, OrTimer>>>(5);
}
};
} // namespace sm_dance_bot