Program Listing for File ss_f_pattern_1.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
*
******************************************************************************************************************/
#include <smacc2/smacc.hpp>
namespace sm_dance_bot
{
namespace f_pattern_states
{
enum class TDirection
{
LEFT,
RIGHT
};
// FORWARD DECLARATIONS OF INNER STATES
template <typename SS>class StiFPatternRotate1;
template <typename SS>class StiFPatternForward1;
template <typename SS>class StiFPatternReturn1;
template <typename SS>class StiFPatternRotate2;
template <typename SS>class StiFPatternForward2;
template <typename SS>class StiFPatternStartLoop;
} // namespace f_pattern_states
} // namespace sm_dance_bot
namespace sm_dance_bot
{
namespace SS4
{
using namespace f_pattern_states;
// STATE DECLARATION
struct SsFPattern1
: smacc2::SmaccState<SsFPattern1, MsDanceBotRunMode, StiFPatternStartLoop<SsFPattern1>>
{
public:
using SmaccState::SmaccState;
// TRANSITION TABLE
typedef mpl::list<
Transition<EvLoopEnd<StiFPatternStartLoop<SsFPattern1>>, StNavigateReverse4, ENDLOOP> //,
>reactions;
// STATE VARIABLES
// superstate parameters
static constexpr float ray_lenght_meters() { return 3.25; }
static constexpr float pitch_lenght_meters() { return 0.75; }
static constexpr int total_iterations() { return 10; }
static constexpr TDirection direction() { return TDirection::RIGHT; }
// superstate state variables
int iteration_count;
// STATE FUNCTIONS
static void staticConfigure()
{
//configure_orthogonal<OrObstaclePerception, CbLidarSensor>();
}
void runtimeConfigure() { iteration_count = 0; }
}; // namespace SS4
// FORWARD DECLARATION FOR THE SUPERSTATE
} // namespace SS4
} // namespace sm_dance_bot
#include <sm_dance_bot/states/f_pattern_states/sti_fpattern_forward_1.hpp>
#include <sm_dance_bot/states/f_pattern_states/sti_fpattern_forward_2.hpp>
#include <sm_dance_bot/states/f_pattern_states/sti_fpattern_loop_start.hpp>
#include <sm_dance_bot/states/f_pattern_states/sti_fpattern_return_1.hpp>
#include <sm_dance_bot/states/f_pattern_states/sti_fpattern_rotate_1.hpp>
#include <sm_dance_bot/states/f_pattern_states/sti_fpattern_rotate_2.hpp>