Program Listing for File sti_fpattern_forward_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
*
******************************************************************************************************************/
namespace sm_dance_bot_warehouse_2
{
namespace f_pattern_states
{
using sm_dance_bot_warehouse_2::cl_lidar::CpForwardObstacleDetector;
// STATE DECLARATION
template <typename SS>
struct StiFPatternForward1 : public smacc2::SmaccState<StiFPatternForward1<SS>, SS>
{
typedef SmaccState<StiFPatternForward1<SS>, SS> TSti;
using TSti::context_type;
using TSti::SmaccState;
// TRANSITION TABLE
typedef mpl::list<
Transition<EvCbSuccess<CbNavigateForward, OrNavigation>, StiFPatternReturn1<SS>>,
Transition<EvCbFailure<CbNavigateForward, OrNavigation>, StiFPatternReturn1<SS>, ABORT>
>reactions;
// STATE FUNCTIONS
static void staticConfigure()
{
TSti::template configure_orthogonal<OrNavigation, CbNavigateForward>();
TSti::template configure_orthogonal<OrNavigation, CbPauseSlam>();
TSti::template configure_orthogonal<OrLED, CbLEDOn>();
}
void runtimeConfigure()
{
cl_lidar::ClLidarSensor * lidarClient;
this->requiresClient(lidarClient);
auto lidarData = lidarClient->getComponent<CpForwardObstacleDetector>();
auto forwardBehavior =
TSti::template getOrthogonal<OrNavigation>()->template getClientBehavior<CbNavigateForward>();
forwardBehavior->setForwardDistance( lidarData->getForwardDistance());
RCLCPP_INFO(
this->getLogger(), "Going forward in F pattern, distance to wall: %lf",
lidarData->getForwardDistance());
}
};
} // namespace f_pattern_states
} // namespace sm_dance_bot_warehouse_2