Program Listing for File ss_s_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 SS5
{
namespace sm_dance_bot
{
namespace s_pattern_states
{
// FORWARD DECLARATIONS OF INNER STATES
class StiSPatternRotate1;
class StiSPatternForward1;
class StiSPatternRotate2;
class StiSPatternForward2;
class StiSPatternRotate3;
class StiSPatternForward3;
class StiSPatternRotate4;
class StiSPatternForward4;
class StiSPatternLoopStart;
} // namespace s_pattern_states
} // namespace sm_dance_bot
enum class TDirection
{
LEFT,
RIGHT
};
using namespace sm_dance_bot::s_pattern_states;
// STATE DECLARATION
struct SsSPattern1 : smacc2::SmaccState<SsSPattern1, MsDanceBotRunMode, StiSPatternLoopStart>
{
public:
using SmaccState::SmaccState;
// TRANSITION TABLE
typedef mpl::list<
Transition<EvLoopEnd<StiSPatternLoopStart>, StNavigateReverse3, ENDLOOP>
>reactions;
// STATE FUNCTIONS
static void staticConfigure()
{
//configure_orthogonal<OrObstaclePerception, CbLidarSensor>();
}
static constexpr float pitch1_lenght_meters() { return 0.75; }
static constexpr float pitch2_lenght_meters() { return 1.45; }
static constexpr int total_iterations() { return 9; }
static constexpr TDirection direction() { return TDirection::RIGHT; }
int iteration_count;
void runtimeConfigure() { this->iteration_count = 0; }
};
// FORWARD DECLARATION FOR THE SUPERSTATE
using SS = SsSPattern1;
#include <sm_dance_bot/states/s_pattern_states/sti_spattern_forward_1.hpp>
#include <sm_dance_bot/states/s_pattern_states/sti_spattern_forward_2.hpp>
#include <sm_dance_bot/states/s_pattern_states/sti_spattern_forward_3.hpp>
#include <sm_dance_bot/states/s_pattern_states/sti_spattern_forward_4.hpp>
#include <sm_dance_bot/states/s_pattern_states/sti_spattern_loop_start.hpp>
#include <sm_dance_bot/states/s_pattern_states/sti_spattern_rotate_1.hpp>
#include <sm_dance_bot/states/s_pattern_states/sti_spattern_rotate_2.hpp>
#include <sm_dance_bot/states/s_pattern_states/sti_spattern_rotate_3.hpp>
#include <sm_dance_bot/states/s_pattern_states/sti_spattern_rotate_4.hpp>
} // namespace SS5
} // namespace sm_dance_bot