Program Listing for File st_state_2.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_three_some
{
// STATE DECLARATION
struct StState2 : smacc2::SmaccState<StState2, MsRun>
{
using SmaccState::SmaccState;
// DECLARE CUSTOM OBJECT TAGS
struct TIMEOUT : ABORT{};
struct NEXT : SUCCESS{};
struct PREVIOUS : ABORT{};
// TRANSITION TABLE
typedef mpl::list<
Transition<EvTimer<CbTimerCountdownOnce, OrTimer>, StState3, TIMEOUT>,
Transition<EvAllGo<SrAllEventsGo>, StState3>,
// Keyboard events
Transition<EvKeyPressP<CbDefaultKeyboardBehavior, OrKeyboard>, StState1, PREVIOUS>,
Transition<EvKeyPressN<CbDefaultKeyboardBehavior, OrKeyboard>, StState3, NEXT>
>reactions;
// STATE FUNCTIONS
static void staticConfigure()
{
configure_orthogonal<OrTimer, CbTimerCountdownOnce>(10);
configure_orthogonal<OrSubscriber, CbWatchdogSubscriberBehavior>();
configure_orthogonal<OrUpdatablePublisher, CbDefaultPublishLoop>();
configure_orthogonal<OrKeyboard, CbDefaultKeyboardBehavior>();
// Create State Reactor
// auto sbAll = static_createStateReactor<SrAllEventsGo>();
auto sbAll = static_createStateReactor<
smacc2::state_reactors::SrAllEventsGo, smacc2::state_reactors::EvAllGo<SrAllEventsGo>,
mpl::list<
EvKeyPressA<CbDefaultKeyboardBehavior, OrKeyboard>,
EvKeyPressB<CbDefaultKeyboardBehavior, OrKeyboard>,
EvKeyPressC<CbDefaultKeyboardBehavior, OrKeyboard>>>();
/*
sbAll->addInputEvent<EvKeyPressA<CbDefaultKeyboardBehavior, OrKeyboard>>();
sbAll->addInputEvent<EvKeyPressB<CbDefaultKeyboardBehavior, OrKeyboard>>();
sbAll->addInputEvent<EvKeyPressC<CbDefaultKeyboardBehavior, OrKeyboard>>();
sbAll->setOutputEvent<EvAllGo<SrAllEventsGo>>();
*/
}
void runtimeConfigure() {}
void onEntry() { RCLCPP_INFO(getLogger(), "On Entry!"); }
void onExit() { RCLCPP_INFO(getLogger(), "On Exit!"); }
};
} // namespace sm_three_some