.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_pubsub_1_include_sm_pubsub_1_states_st_state_2.hpp:

Program Listing for File st_state_2.hpp
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_pubsub_1_include_sm_pubsub_1_states_st_state_2.hpp>` (``/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_pubsub_1/include/sm_pubsub_1/states/st_state_2.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.
   
   namespace sm_pubsub_1
   {
   using namespace std::chrono_literals;
   
   // STATE DECLARATION
   struct StState2 : smacc2::SmaccState<StState2, MsRun>, smacc2::ISmaccUpdatable
   {
     using SmaccState::SmaccState;
   
     // DECLARE CUSTOM OBJECT TAGS
     struct TIMEOUT : ABORT{};
     struct NEXT : SUCCESS{};
     struct PREVIOUS : ABORT{};
   
     // TRANSITION TABLE
     typedef mpl::list<
   
       // Transition<EvTimer<CbTimerCountdownOnce, OrTimer>, StState3, TIMEOUT>,
       // Transition<EvAllGo<SrAllEventsGo>, StState3>,
       // Keyboard events
       Transition<EvKeyPressP<CbDefaultKeyboardBehavior, OrKeyboard>, StState1, PREVIOUS>,
       Transition<EvKeyPressN<CbDefaultKeyboardBehavior, OrKeyboard>, StState3, NEXT>,
       Transition<EvMyBehavior<CbMySubscriberBehavior, OrSubscriber>, StState3, NEXT>,
       Transition<EvTrue<EgConditionalGenerator, StState2>, StState3, NEXT>
   
       >reactions;
   
     static int k;
   
     // STATE FUNCTIONS
     static void staticConfigure()
     {
       // configure_orthogonal<OrTimer, CbTimerCountdownOnce>(10);
       // configure_orthogonal<OrSubscriber, CbWatchdogSubscriberBehavior>();
       configure_orthogonal<OrSubscriber, CbMySubscriberBehavior>();
       // configure_orthogonal<OrUpdatablePublisher, CbDefaultPublishLoop>();
       configure_orthogonal<OrKeyboard, CbDefaultKeyboardBehavior>();
   
       // Create State Reactor
       // auto sbAll = static_createStateReactor<SrAllEventsGo>();
       // sbAll->addInputEvent<EvKeyPressA<CbDefaultKeyboardBehavior, OrKeyboard>>();
       // sbAll->addInputEvent<EvKeyPressB<CbDefaultKeyboardBehavior, OrKeyboard>>();
       // sbAll->addInputEvent<EvKeyPressC<CbDefaultKeyboardBehavior, OrKeyboard>>();
       // sbAll->setOutputEvent<EvAllGo<SrAllEventsGo>>();
   
       static_createEventGenerator<EgConditionalGenerator>(ConditionalGeneratorMode::ON_UPDATE);
     }
   
     void runtimeConfigure()
     {
       k = 0;
   
       auto eg = this->getEventGenerator<EgConditionalGenerator>();
       eg->setPredicateFunction([=] { return this->eventGeneratorPredicate(this); });
     }
   
     bool eventGeneratorPredicate(ISmaccState * st)
     {
       auto res = k > 300;
       RCLCPP_INFO(st->getLogger(), "[State2] checking k: %d  > 300 == %d", k, res);
       rclcpp::sleep_for(10ms);
       // rclcpp::Duration(10ms).sleep();
       return res;
     }
   
     void update() override
     {
       k++;
       RCLCPP_INFO(getLogger(), "[State2] internally updating k: %d", k);
     }
   
     void onEntry() { RCLCPP_INFO(getLogger(), "On Entry!"); }
   
     void onExit() { RCLCPP_INFO(getLogger(), "On Exit!"); }
   };
   
   int StState2::k = 0;
   }  // namespace sm_pubsub_1