.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_advanced_recovery_1_include_sm_advanced_recovery_1_states_c_cycle_inner_states_sti_c_cycle_step_6.hpp:

Program Listing for File sti_c_cycle_step_6.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_states_c_cycle_inner_states_sti_c_cycle_step_6.hpp>` (``/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_advanced_recovery_1/include/sm_advanced_recovery_1/states/c_cycle_inner_states/sti_c_cycle_step_6.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.
   
   namespace sm_advanced_recovery_1
   {
   namespace c_cycle_inner_states
   {
   // STATE DECLARATION
   struct StiCCycleStep6 : smacc2::SmaccState<StiCCycleStep6, SsCCycle>
   {
     using SmaccState::SmaccState;
   
     // DECLARE CUSTOM OBJECT TAGS
     struct TIMEOUT : ABORT{};
     struct NEXT : SUCCESS{};
     struct PREVIOUS : ABORT{};
     struct RETURN : CANCEL{};
   
     // TRANSITION TABLE
     typedef mpl::list<
   
       Transition<EvTimer<CbTimerCountdownOnce, OrTimer>, StiCCycleStep7, TIMEOUT>,
       Transition<EvKeyPressP<CbDefaultKeyboardBehavior, OrKeyboard>, StiCCycleStep5, PREVIOUS>,
       Transition<EvKeyPressN<CbDefaultKeyboardBehavior, OrKeyboard>, StiCCycleStep7, NEXT>,
   
       Transition<EvKeyPressZ<CbDefaultKeyboardBehavior, OrKeyboard>, StObserve, RETURN>,
       Transition<EvKeyPressX<CbDefaultKeyboardBehavior, OrKeyboard>, MsRecover, ABORT>
   
       >reactions;
   
     // STATE FUNCTIONS
     static void staticConfigure()
     {
       configure_orthogonal<OrTimer, CbTimerCountdownOnce>(40);
       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 c_cycle_inner_states
   }  // namespace sm_advanced_recovery_1