Program Listing for File st_state_2.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.
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