Program Listing for File mode_5_st_observe.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.
namespace sm_multi_stage_1
{
// STATE DECLARATION
struct Mode5StObserve : smacc2::SmaccState<Mode5StObserve, MsMode5>
{
using SmaccState::SmaccState;
// DECLARE CUSTOM OBJECT TAGS
struct mode_5_sequence_a : SUCCESS{};
struct mode_5_sequence_b : SUCCESS{};
// TRANSITION TABLE
typedef mpl::list<
Transition<EvTimer<CbTimerCountdownOnce, OrTimer>, Mode5SequenceBLoop, SUCCESS>,
// Transition<smacc2::EvTopicMessage<CbWatchdogSubscriberBehavior, OrSubscriber>, SsMode1SequenceA>,
// Keyboard events
// Transition<EvKeyPressF<CbDefaultKeyboardBehavior, OrKeyboard>, MsMode2, SUCCESS>,
Transition<EvKeyPressA<CbDefaultKeyboardBehavior, OrKeyboard>, Mode5SequenceALoop, SUCCESS>,
// Transition<EvKeyPressA<CbDefaultKeyboardBehavior, OrKeyboard>, SsMode1SequenceA, mode_1_sequence_a>,
Transition<EvKeyPressB<CbDefaultKeyboardBehavior, OrKeyboard>, Mode5SequenceBLoop, SUCCESS>
>reactions;
// STATE FUNCTIONS
static void staticConfigure()
{
configure_orthogonal<OrTimer, CbTimerCountdownOnce>(10);
configure_orthogonal<OrSubscriber, CbWatchdogSubscriberBehavior>();
configure_orthogonal<OrUpdatablePublisher, CbDefaultPublishLoop>();
configure_orthogonal<OrKeyboard, CbDefaultKeyboardBehavior>();
}
void runtimeConfigure() {}
void onEntry() { RCLCPP_INFO(getLogger(), "On Entry!"); }
void onExit() { RCLCPP_INFO(getLogger(), "On Exit!"); }
};
} // namespace sm_multi_stage_1