.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_dance_bot_warehouse_include_sm_dance_bot_warehouse_states_st_navigate_forward_1.hpp:

Program Listing for File st_navigate_forward_1.hpp
==================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_dance_bot_warehouse_include_sm_dance_bot_warehouse_states_st_navigate_forward_1.hpp>` (``/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_dance_bot_warehouse/include/sm_dance_bot_warehouse/states/st_navigate_forward_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.
   
   /*****************************************************************************************************************
    *
    *   Authors: Pablo Inigo Blasco, Brett Aldrich
    *
    ******************************************************************************************************************/
   
   #pragma once
   
   #include <nav2z_client/nav2z_client.hpp>
   #include <smacc2/smacc.hpp>
   
   namespace sm_dance_bot_warehouse
   {
     using ::cl_nav2z::ClNav2Z;
   
   // STATE DECLARATION
   struct StNavigateForward1 : smacc2::SmaccState<StNavigateForward1, MsDanceBotRunMode>
   {
     using SmaccState::SmaccState;
   
     // TRANSITION TABLE
     typedef mpl::list<
   
       Transition<EvCbSuccess<CbNavigateForward, OrNavigation>, StRotateDegrees2>,
       Transition<EvCbFailure<CbNavigateForward, OrNavigation>, StNavigateForward1, ABORT>
       //, Transition<EvActionPreempted<ClNav2Z, OrNavigation>, StNavigateToWaypointsX, PREEMPT>
   
       >reactions;
   
     // STATE FUNCTIONS
     static void staticConfigure()
     {
       configure_orthogonal<OrNavigation, CbNavigateForward>(1);
       configure_orthogonal<OrNavigation, CbPauseSlam>();
       configure_orthogonal<OrLED, CbLEDOff>();
       configure_orthogonal<OrObstaclePerception, CbLidarSensor>();
     }
   
     void runtimeConfigure()
     {
       ClNav2Z * move_base_action_client;
       this->requiresClient(move_base_action_client);
   
       // we careful with the lifetime of the callbac, us a scoped connection if is not forever
       move_base_action_client->onSucceeded(&StNavigateForward1::onActionClientSucceeded, this);
     }
   
     void onActionClientSucceeded(ClNav2Z::WrappedResult & msg)
     {
       RCLCPP_INFO_STREAM(
         getLogger(),
         " [Callback SmaccSignal] Success Detected from StAcquireSensors (connected to client signal), "
         "result data: "
           << msg.result);
     }
   };
   }  // namespace sm_dance_bot_warehouse