Program Listing for File st_state_1.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.

#include <smacc2/smacc.hpp>

namespace sm_atomic_services
{
using namespace cl_ros_timer;
using namespace smacc2::default_transition_tags;

// STATE DECLARATION
struct State1 : smacc2::SmaccState<State1, SmAtomicServices>
{
    using SmaccState::SmaccState;

// TRANSITION TABLE
    typedef mpl::list<

    Transition<EvTimer<CbTimerCountdownOnce, OrTimer>, State2, SUCCESS>

    >reactions;


// STATE FUNCTIONS
    static void staticConfigure()
    {
        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