.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_performance_tools_performance_tests_sm_coretest_transition_speed_1_include_sm_coretest_transition_speed_1_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_performance_tools_performance_tests_sm_coretest_transition_speed_1_include_sm_coretest_transition_speed_1_states_st_state_1.hpp>` (``/tmp/ws/src/SMACC2/smacc2_performance_tools/performance_tests/sm_coretest_transition_speed_1/include/sm_coretest_transition_speed_1/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.
   
   //
   // Author: Denis Štogl (template)
   //
   
   #pragma once
   
   #include "rclcpp/rclcpp.hpp"
   #include "smacc2/smacc.hpp"
   
   namespace sm_coretest_transition_speed_1
   {
   // SMACC2 clases
   using smacc2::EvStateRequestFinish;
   using smacc2::Transition;
   
   // STATE MACHINE SHARED VARIABLES (used in this state)
   extern unsigned int _counter_;
   extern std::shared_ptr<rclcpp::Node> _node_;
   extern rclcpp::Time _start_time_;
   
   extern unsigned int _sum_of_iterations_;
   extern double _sum_of_elapsed_time_;
   
   // State constants
   constexpr unsigned int ITERATIONS_CHECK = 100;
   
   // STATE DECLARATION
   struct State1 : smacc2::SmaccState<State1, SmCoretestTransitionSpeed1>
   {
     using SmaccState::SmaccState;
   
     // TRANSITION TABLE
     typedef boost::mpl::list<
   
       Transition<EvStateRequestFinish<State1>, State2>
   
       >
       reactions;
   
     // STATE FUNCTIONS
     static void staticConfigure() {}
   
     void runtimeConfigure() {}
   
     void onEntry()
     {
       // NOTE: counter is updated in 'State2'
       if (_counter_ == ITERATIONS_CHECK)
       {
         rclcpp::Duration elapsed = _node_->now() - _start_time_;
         double frequency_Hz = ITERATIONS_CHECK / elapsed.seconds();
         _sum_of_iterations_ += ITERATIONS_CHECK;
         _sum_of_elapsed_time_ += elapsed.seconds();
         double global_frequency_Hz = _sum_of_iterations_ / _sum_of_elapsed_time_;
   
         // Using fatal to override all logging restrictions.
         RCLCPP_FATAL(
           _node_->get_logger(),
           "Executed %u iterations in %lf seconds: %lf Hz. Longtime frequency: %lf Hz",
           ITERATIONS_CHECK, elapsed.seconds(), frequency_Hz, global_frequency_Hz);
   
         _counter_ = 1;
         _start_time_ = _node_->now();
       }
   
       this->postEvent<EvStateRequestFinish<State1>>();
     }
   
     void onExit() {}
   };
   }  // namespace sm_coretest_transition_speed_1