Program Listing for File st_navigate_to_waypoints_x.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 StNavigateToWaypointsX : smacc2::SmaccState<StNavigateToWaypointsX, MsDanceBotRunMode>
{
using SmaccState::SmaccState;
// CUSTOM TRANSITION TAGS
struct TRANSITION_1 : SUCCESS{};
struct TRANSITION_2 : SUCCESS{};
struct TRANSITION_3 : SUCCESS{};
struct TRANSITION_4 : SUCCESS{};
struct TRANSITION_5 : SUCCESS{};
struct TRANSITION_6 : SUCCESS{};
// TRANSITION TABLE
typedef mpl::list<
Transition<EvWaypoint0<ClNav2Z, OrNavigation>, SS1::SsRadialPattern1, TRANSITION_1>,
Transition<EvWaypoint1<ClNav2Z, OrNavigation>, SS2::SsRadialPattern2, TRANSITION_2>,
Transition<EvWaypoint2<ClNav2Z, OrNavigation>, SS3::SsRadialPattern3, TRANSITION_3>,
Transition<EvWaypoint3<ClNav2Z, OrNavigation>, SS4::SsFPattern1, TRANSITION_4>,
Transition<EvWaypoint4<ClNav2Z, OrNavigation>, StNavigateToWaypointsX, TRANSITION_5>,
Transition<EvWaypoint5<ClNav2Z, OrNavigation>, SS5::SsSPattern1, TRANSITION_6>,
Transition<EvCbFailure<CbNavigateNextWaypoint, OrNavigation>, StNavigateToWaypointsX, ABORT>
>reactions;
// STATE FUNCTIONS
static void staticConfigure()
{
configure_orthogonal<OrLED, CbLEDOn>();
configure_orthogonal<OrNavigation, CbNavigateNextWaypoint>();
configure_orthogonal<OrNavigation, CbResumeSlam>();
configure_orthogonal<OrObstaclePerception, CbLidarSensor>();
}
void runtimeConfigure() {}
void onExit(ABORT)
{
}
};
} // namespace sm_dance_bot