Program Listing for File sm_three_some.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.
#pragma once
#include <smacc2/smacc.hpp>
// CLIENTS
#include <keyboard_client/cl_keyboard.hpp>
#include <ros_timer_client/cl_ros_timer.hpp>
// ORTHOGONALS
#include <sm_three_some/orthogonals/or_keyboard.hpp>
#include <sm_three_some/orthogonals/or_subscriber.hpp>
#include <sm_three_some/orthogonals/or_timer.hpp>
#include <sm_three_some/orthogonals/or_updatable_publisher.hpp>
using namespace cl_ros_timer;
using namespace cl_ros_publisher;
using namespace cl_keyboard;
using namespace sm_three_some::cl_subscriber;
// CLIENT BEHAVIORS
#include <keyboard_client/client_behaviors/cb_default_keyboard_behavior.hpp>
#include <ros_publisher_client/client_behaviors/cb_default_publish_loop.hpp>
#include <ros_publisher_client/client_behaviors/cb_muted_behavior.hpp>
#include <ros_publisher_client/client_behaviors/cb_publish_once.hpp>
#include <sm_three_some/clients/cl_subscriber/client_behaviors/cb_default_subscriber_behavior.hpp>
#include <sm_three_some/clients/cl_subscriber/client_behaviors/cb_watchdog_subscriber_behavior.hpp>
//#include <ros_timer_client/client_behaviors/cb_ros_timer.hpp>
#include <ros_timer_client/client_behaviors/cb_timer_countdown_once.hpp>
// STATE REACTORS
#include <sr_all_events_go/sr_all_events_go.hpp>
using namespace smacc2;
using namespace smacc2::state_reactors;
using namespace smacc2::default_events;
namespace sm_three_some
{
// SUPERSTATES
namespace SS1
{
class Ss1;
} // namespace SS1
// SUPERSTATES
namespace SS2
{
class Ss2;
} // namespace SS2
// STATES
class StState1; // first state specially needs a forward declaration
class StState2;
class StState3;
class StState4;
class MsRun;
class MsRecover;
struct EvToDeep : sc::event<EvToDeep>
{
};
struct EvFail : sc::event<EvFail>
{
};
// STATE MACHINE
struct SmThreeSome : public smacc2::SmaccStateMachineBase<SmThreeSome, MsRun>
{
using SmaccStateMachineBase::SmaccStateMachineBase;
void onInitialize() override
{
this->createOrthogonal<OrTimer>();
this->createOrthogonal<OrUpdatablePublisher>();
this->createOrthogonal<OrKeyboard>();
this->createOrthogonal<OrSubscriber>();
}
};
} // namespace sm_three_some
// MODE STATES
#include <sm_three_some/mode_states/ms_run.hpp>
#include <sm_three_some/mode_states/ms_recover.hpp>
// STATES
#include <sm_three_some/states/st_state_1.hpp>
#include <sm_three_some/states/st_state_2.hpp>
#include <sm_three_some/states/st_state_3.hpp>
#include <sm_three_some/states/st_state_4.hpp>
#include <sm_three_some/superstates/ss_superstate_1.hpp>
#include <sm_three_some/superstates/ss_superstate_2.hpp>