Program Listing for File sti_spattern_forward_4.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
*
******************************************************************************************************************/
namespace sm_dance_bot_warehouse
{
namespace s_pattern_states
{
// STATE DECLARATION
struct StiSPatternForward4 : public smacc2::SmaccState<StiSPatternForward4, SS>
{
using SmaccState::SmaccState;
// TRANSITION TABLE
typedef mpl::list<
Transition<EvCbSuccess<CbNavigateForward, OrNavigation>, StiSPatternLoopStart> //,
// Transition<EvCbFailure<CbNavigateForward, OrNavigation>, StiSPatternRotate4>
>reactions;
// STATE FUNCTIONS
static void staticConfigure()
{
configure_orthogonal<OrNavigation, CbNavigateForward>();
configure_orthogonal<OrNavigation, CbPauseSlam>();
configure_orthogonal<OrLED, CbLEDOn>();
}
void runtimeConfigure()
{
//auto &superstate = this->context<SS>();
auto & superstate = this->context<SS>();
double extrasecurityMargin = 0.1;
auto forwardBehavior =
this->getClientBehavior<OrNavigation,CbNavigateForward>();
cl_lidar::ClLidarSensor * lidarClient;
this->requiresClient(lidarClient);
auto lidarData = lidarClient->getComponent<CpForwardObstacleDetector>();
float fwdist = lidarData->getForwardDistance(25);
if (!std::isnan(fwdist))
forwardBehavior->setForwardDistance(
fwdist -
extrasecurityMargin); /*extra security margin for easy dynamic implementation of dynamic-smotion*/
else
forwardBehavior->setForwardDistance( superstate.pitch2_lenght_meters());
}
};
} // namespace s_pattern_states
} // namespace sm_dance_bot_warehouse