.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_atomic_include_sm_atomic_states_st_state_1.hpp:

Program Listing for File st_state_1.hpp
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_atomic_include_sm_atomic_states_st_state_1.hpp>` (``/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_atomic/include/sm_atomic/states/st_state_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.
   
   #include <smacc2/smacc.hpp>
   
   namespace sm_atomic
   {
   using namespace cl_ros_timer;
   using namespace smacc2::default_transition_tags;
   
   // STATE DECLARATION
   struct State1 : smacc2::SmaccState<State1, SmAtomic>
   {
     using SmaccState::SmaccState;
   
     // TRANSITION TABLE
     typedef mpl::list<
   
       Transition<EvTimer<CbTimerCountdownOnce, OrTimer>, State2, SUCCESS>
   
       >reactions;
   
     // STATE FUNCTIONS
     static void staticConfigure()
     {
       configure_orthogonal<OrTimer, CbTimerCountdownLoop>(3);  // EvTimer triggers each 3 client ticks
       configure_orthogonal<OrTimer, CbTimerCountdownOnce>(
         5);  // EvTimer triggers once at 10 client ticks
     }
   
     void runtimeConfigure() {}
   
     void onEntry() { RCLCPP_INFO(getLogger(), "On Entry!"); }
   
     void onExit() { RCLCPP_INFO(getLogger(), "On Exit!"); }
   };
   }  // namespace sm_atomic