.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_advanced_recovery_1_include_sm_advanced_recovery_1_sm_advanced_recovery_1.hpp:

Program Listing for File sm_advanced_recovery_1.hpp
===================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_advanced_recovery_1_include_sm_advanced_recovery_1_sm_advanced_recovery_1.hpp>` (``/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_advanced_recovery_1/include/sm_advanced_recovery_1/sm_advanced_recovery_1.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // 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 <rclcpp/rclcpp.hpp>
   #include <smacc2/smacc.hpp>
   
   // CLIENTS
   #include <keyboard_client/cl_keyboard.hpp>
   #include <ros_timer_client/cl_ros_timer.hpp>
   
   // ORTHOGONALS
   #include <sm_advanced_recovery_1/orthogonals/or_keyboard.hpp>
   #include <sm_advanced_recovery_1/orthogonals/or_subscriber.hpp>
   #include <sm_advanced_recovery_1/orthogonals/or_timer.hpp>
   #include <sm_advanced_recovery_1/orthogonals/or_updatable_publisher.hpp>
   
   using namespace cl_ros_timer;
   using namespace cl_ros_publisher;
   using namespace cl_keyboard;
   using namespace sm_advanced_recovery_1::cl_subscriber;
   
   //CLIENT BEHAVIORS
   #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_advanced_recovery_1/clients/cl_subscriber/client_behaviors/cb_default_subscriber_behavior.hpp>
   #include <sm_advanced_recovery_1/clients/cl_subscriber/client_behaviors/cb_watchdog_subscriber_behavior.hpp>
   
   #include <keyboard_client/client_behaviors/cb_default_keyboard_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_advanced_recovery_1
   {
   //SUPERSTATES
   class SsACycle;
   namespace a_cycle_inner_states
   {
   class StiACycleLoop;
   class StiACycleStep1;
   class StiACycleStep2;
   class StiACycleStep3;
   class StiACycleStep4;
   class StiACycleStep5;
   class StiACycleStep6;
   class StiACycleStep7;
   class StiACycleStep8;
   class StiACycleStep9;
   }  // namespace a_cycle_inner_states
   
   class SsBCycle;
   
   namespace b_cyclenner_states
   {
   //FORWARD DECLARATIONS OF ALL INNER STATES
   class StiBCycleLoop;
   class StiBCycleStep1;
   class StiBCycleStep2;
   class StiBCycleStep3;
   class StiBCycleStep4;
   class StiBCycleStep5;
   class StiBCycleStep6;
   class StiBCycleStep7;
   class StiBCycleStep8;
   class StiBCycleStep9;
   }  // namespace b_cyclenner_states
   
   class SsCCycle;
   namespace c_cycle_inner_states
   {
   //FORWARD DECLARATIONS OF ALL INNER STATES
   class StiCCycleLoop;
   class StiCCycleStep1;
   class StiCCycleStep2;
   class StiCCycleStep3;
   class StiCCycleStep4;
   class StiCCycleStep5;
   class StiCCycleStep6;
   class StiCCycleStep7;
   class StiCCycleStep8;
   class StiCCycleStep9;
   }  // namespace c_cycle_inner_states
   
   //STATES
   class StObserve;
   class StRecoverStep1;
   class StRecoverStep2;
   class StRecoverStep3;
   class StRecoverStep4;
   class StRecoverStep5;
   class StRecoverStep6;
   class StRecoverStep7;
   
   //MODE STATES
   class MsRun;
   class MsRecover;
   
   struct EvToDeep : sc::event<EvToDeep>{};
   struct EvFail : sc::event<EvFail>{};
   
   // STATE MACHINE
   struct SmAdvancedRecovery1 : public smacc2::SmaccStateMachineBase<SmAdvancedRecovery1, MsRun>
   {
     using SmaccStateMachineBase::SmaccStateMachineBase;
   
     virtual void onInitialize() override
     {
       this->createOrthogonal<OrTimer>();
       this->createOrthogonal<OrUpdatablePublisher>();
       this->createOrthogonal<OrKeyboard>();
       this->createOrthogonal<OrSubscriber>();
     }
   };
   }  // namespace sm_advanced_recovery_1
   
   // MODE STATES
   #include <sm_advanced_recovery_1/mode_states/ms_recover.hpp>
   #include <sm_advanced_recovery_1/mode_states/ms_run.hpp>
   
   //STATES
   #include <sm_advanced_recovery_1/states/ms_recover_inner_states/st_recover_step_1.hpp>
   #include <sm_advanced_recovery_1/states/ms_recover_inner_states/st_recover_step_2.hpp>
   #include <sm_advanced_recovery_1/states/ms_recover_inner_states/st_recover_step_3.hpp>
   #include <sm_advanced_recovery_1/states/ms_recover_inner_states/st_recover_step_4.hpp>
   #include <sm_advanced_recovery_1/states/ms_recover_inner_states/st_recover_step_5.hpp>
   #include <sm_advanced_recovery_1/states/ms_recover_inner_states/st_recover_step_6.hpp>
   #include <sm_advanced_recovery_1/states/ms_recover_inner_states/st_recover_step_7.hpp>
   
   #include <sm_advanced_recovery_1/states/st_observe.hpp>
   
   #include <sm_advanced_recovery_1/superstates/ss_a_cycle.hpp>
   #include <sm_advanced_recovery_1/superstates/ss_b_cycle.hpp>
   #include <sm_advanced_recovery_1/superstates/ss_c_cycle.hpp>
   
   //ss_ac_cycle
   #include <sm_advanced_recovery_1/states/a_cycle_inner_states/sti_a_cycle_step_4.hpp>
   #include <sm_advanced_recovery_1/states/a_cycle_inner_states/sti_a_cycle_step_3.hpp>
   #include <sm_advanced_recovery_1/states/a_cycle_inner_states/sti_a_cycle_step_1.hpp>
   #include <sm_advanced_recovery_1/states/a_cycle_inner_states/sti_a_cycle_loop.hpp>
   #include <sm_advanced_recovery_1/states/a_cycle_inner_states/sti_a_cycle_step_2.hpp>
   #include <sm_advanced_recovery_1/states/a_cycle_inner_states/sti_a_cycle_step_5.hpp>
   #include <sm_advanced_recovery_1/states/a_cycle_inner_states/sti_a_cycle_step_6.hpp>
   #include <sm_advanced_recovery_1/states/a_cycle_inner_states/sti_a_cycle_step_7.hpp>
   #include <sm_advanced_recovery_1/states/a_cycle_inner_states/sti_a_cycle_step_8.hpp>
   #include <sm_advanced_recovery_1/states/a_cycle_inner_states/sti_a_cycle_step_9.hpp>
   
   //ss_b_cycle
   #include <sm_advanced_recovery_1/states/b_cycle_inner_states/sti_b_cycle_step_4.hpp>
   #include <sm_advanced_recovery_1/states/b_cycle_inner_states/sti_b_cycle_step_3.hpp>
   #include <sm_advanced_recovery_1/states/b_cycle_inner_states/sti_b_cycle_step_1.hpp>
   #include <sm_advanced_recovery_1/states/b_cycle_inner_states/sti_b_cycle_loop.hpp>
   #include <sm_advanced_recovery_1/states/b_cycle_inner_states/sti_b_cycle_step_2.hpp>
   #include <sm_advanced_recovery_1/states/b_cycle_inner_states/sti_b_cycle_step_5.hpp>
   #include <sm_advanced_recovery_1/states/b_cycle_inner_states/sti_b_cycle_step_6.hpp>
   #include <sm_advanced_recovery_1/states/b_cycle_inner_states/sti_b_cycle_step_7.hpp>
   #include <sm_advanced_recovery_1/states/b_cycle_inner_states/sti_b_cycle_step_8.hpp>
   #include <sm_advanced_recovery_1/states/b_cycle_inner_states/sti_b_cycle_step_9.hpp>
   //ss_c_cycle
   #include <sm_advanced_recovery_1/states/c_cycle_inner_states/sti_c_cycle_step_4.hpp>
   #include <sm_advanced_recovery_1/states/c_cycle_inner_states/sti_c_cycle_step_3.hpp>
   #include <sm_advanced_recovery_1/states/c_cycle_inner_states/sti_c_cycle_step_1.hpp>
   #include <sm_advanced_recovery_1/states/c_cycle_inner_states/sti_c_cycle_loop.hpp>
   #include <sm_advanced_recovery_1/states/c_cycle_inner_states/sti_c_cycle_step_2.hpp>
   #include <sm_advanced_recovery_1/states/c_cycle_inner_states/sti_c_cycle_step_5.hpp>
   #include <sm_advanced_recovery_1/states/c_cycle_inner_states/sti_c_cycle_step_6.hpp>
   #include <sm_advanced_recovery_1/states/c_cycle_inner_states/sti_c_cycle_step_7.hpp>
   #include <sm_advanced_recovery_1/states/c_cycle_inner_states/sti_c_cycle_step_8.hpp>
   #include <sm_advanced_recovery_1/states/c_cycle_inner_states/sti_c_cycle_step_9.hpp>