.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_dance_bot_warehouse_3_include_sm_dance_bot_warehouse_3_clients_cl_led_client_behaviors_cb_led_on.hpp:

Program Listing for File cb_led_on.hpp
======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_dance_bot_warehouse_3_include_sm_dance_bot_warehouse_3_clients_cl_led_client_behaviors_cb_led_on.hpp>` (``/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_dance_bot_warehouse_3/include/sm_dance_bot_warehouse_3/clients/cl_led/client_behaviors/cb_led_on.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 <sm_dance_bot_warehouse_3/clients/cl_led/cl_led.hpp>
   #include <smacc2/smacc.hpp>
   
   namespace sm_dance_bot_warehouse_3
   {
   namespace cl_led
   {
   class CbLEDOn : public smacc2::SmaccClientBehavior
   {
   public:
     cl_led::ClLED * ledActionClient_;
   
     void onEntry() override
     {
       this->requiresClient(ledActionClient_);
   
       cl_led::ClLED::Goal goal;
       goal.command = cl_led::ClLED::Goal::CMD_ON;
       ledActionClient_->sendGoal(goal);
     }
   
     void onExit() override
     {
       //RCLCPP_INFO(getLogger(),"Entering ToolClientBehavior");
     }
   };
   }  // namespace cl_led
   }  // namespace sm_dance_bot_warehouse_3