.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_respira_1_include_sm_respira_1_sm_respira_1.hpp:

Program Listing for File sm_respira_1.hpp
=========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_respira_1_include_sm_respira_1_sm_respira_1.hpp>` (``/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_respira_1/include/sm_respira_1/sm_respira_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.
   
   #pragma once
   
   #include <rclcpp/rclcpp.hpp>
   #include <smacc2/smacc.hpp>
   
   // CLIENTS
   #include <keyboard_client/cl_keyboard.hpp>
   #include <ros_timer_client/cl_ros_timer.hpp>
   
   // ORTHOGONALS
   #include <sm_respira_1/orthogonals/or_keyboard.hpp>
   #include <sm_respira_1/orthogonals/or_subscriber.hpp>
   #include <sm_respira_1/orthogonals/or_timer.hpp>
   #include <sm_respira_1/orthogonals/or_updatable_publisher.hpp>
   
   using namespace cl_ros_timer;
   using namespace cl_ros_publisher;
   using namespace cl_keyboard;
   using namespace sm_respira_1::cl_subscriber;
   
   //CLIENT BEHAVIORS
   #include <ros_publisher_client/client_behaviors/cb_default_publish_loop.hpp>
   #include <ros_publisher_client/client_behaviors/cb_muted_behavior.hpp>
   #include <ros_publisher_client/client_behaviors/cb_publish_once.hpp>
   
   #include <sm_respira_1/clients/cl_subscriber/client_behaviors/cb_default_subscriber_behavior.hpp>
   #include <sm_respira_1/clients/cl_subscriber/client_behaviors/cb_watchdog_subscriber_behavior.hpp>
   
   #include <keyboard_client/client_behaviors/cb_default_keyboard_behavior.hpp>
   
   //#include <ros_timer_client/client_behaviors/cb_ros_timer.hpp>
   #include <ros_timer_client/client_behaviors/cb_timer_countdown_once.hpp>
   
   //STATE REACTORS
   #include <sr_all_events_go/sr_all_events_go.hpp>
   
   using namespace smacc2;
   using namespace smacc2::state_reactors;
   using namespace smacc2::default_events;
   
   namespace sm_respira_1
   {
   //SUPERSTATES
   class SsACCycle;
   namespace ac_cycle_inner_states
   {
   class StiACCycleLoop;
   class StiACCycleInspire;
   class StiACCyclePlateau;
   class StiACCycleExpire;
   class StiACCycleDwell;
   }  // namespace ac_cycle_inner_states
   
   class SsCMVCycle;
   
   namespace cmv_cycle_inner_states
   {
   //FORWARD DECLARATIONS OF ALL INNER STATES
   class StiCMVCycleLoop;
   class StiCMVCycleInspire;
   class StiCMVCyclePlateau;
   class StiCMVCycleExpire;
   class StiCMVCycleDwell;
   }  // namespace cmv_cycle_inner_states
   
   class SsPCCycle;
   namespace pc_cycle_inner_states
   {
   //FORWARD DECLARATIONS OF ALL INNER STATES
   class StiPCCycleLoop;
   class StiPCCycleInspire;
   class StiPCCyclePlateau;
   class StiPCCycleExpire;
   class StiPCCycleDwell;
   }  // namespace pc_cycle_inner_states
   
   class SsPSCycle;
   namespace ps_cycle_inner_states
   {
   //FORWARD DECLARATIONS OF ALL INNER STATES
   class StiPSCycleLoop;
   class StiPSCycleInspire;
   class StiPSCyclePlateau;
   class StiPSCycleExpire;
   class StiPSCycleDwell;
   }  // namespace ps_cycle_inner_states
   
   //STATES
   class StObserve;
   class StLeakyLungStep1;
   class StLeakyLungStep2;
   class StLeakyLungStep3;
   class StPatientObstructionStep1;
   class StPatientObstructionStep2;
   class StCalibrationStep1;
   class StSystemShutdown;
   
   //MODE STATES
   class MsRun;
   class MsLeakyLung;
   class MsPatientObstruction;
   class MsCalibration;
   class MsShutdown;
   
   struct EvToDeep : sc::event<EvToDeep>
   {
   };
   
   struct EvFail : sc::event<EvFail>
   {
   };
   
   // STATE MACHINE
   struct SmRespira1 : public smacc2::SmaccStateMachineBase<SmRespira1, MsRun>
   {
     using SmaccStateMachineBase::SmaccStateMachineBase;
   
     virtual void onInitialize() override
     {
       this->createOrthogonal<OrTimer>();
       this->createOrthogonal<OrUpdatablePublisher>();
       this->createOrthogonal<OrKeyboard>();
       this->createOrthogonal<OrSubscriber>();
     }
   };
   }  // namespace sm_respira_1
   
   // MODE STATES
   #include <sm_respira_1/mode_states/ms_calibration.hpp>
   #include <sm_respira_1/mode_states/ms_leaky_lung.hpp>
   #include <sm_respira_1/mode_states/ms_patient_obstruction.hpp>
   #include <sm_respira_1/mode_states/ms_run.hpp>
   #include <sm_respira_1/mode_states/ms_shutdown.hpp>
   
   //STATES
   #include <sm_respira_1/states/ms_calibration_inner_states/st_calibration_step_1.hpp>
   #include <sm_respira_1/states/ms_leaky_lung_inner_states/st_leaky_lung_step_1.hpp>
   #include <sm_respira_1/states/ms_leaky_lung_inner_states/st_leaky_lung_step_2.hpp>
   #include <sm_respira_1/states/ms_leaky_lung_inner_states/st_leaky_lung_step_3.hpp>
   #include <sm_respira_1/states/ms_patient_obstruction_inner_states/st_patient_obstruction_step_1.hpp>
   #include <sm_respira_1/states/ms_patient_obstruction_inner_states/st_patient_obstruction_step_2.hpp>
   #include <sm_respira_1/states/ms_shutdown_inner_states/st_system_shutdown.hpp>
   #include <sm_respira_1/states/st_observe.hpp>
   
   #include <sm_respira_1/superstates/ss_ac_cycle.hpp>
   #include <sm_respira_1/superstates/ss_cmv_cycle.hpp>
   #include <sm_respira_1/superstates/ss_pc_cycle.hpp>
   #include <sm_respira_1/superstates/ss_ps_cycle.hpp>
   
   //ss_ac_cycle
   #include <sm_respira_1/states/ac_cycle_inner_states/sti_ac_cycle_dwell.hpp>
   #include <sm_respira_1/states/ac_cycle_inner_states/sti_ac_cycle_expire.hpp>
   #include <sm_respira_1/states/ac_cycle_inner_states/sti_ac_cycle_inspire.hpp>
   #include <sm_respira_1/states/ac_cycle_inner_states/sti_ac_cycle_loop.hpp>
   #include <sm_respira_1/states/ac_cycle_inner_states/sti_ac_cycle_plateau.hpp>
   
   //ss_cmv_cycle
   #include <sm_respira_1/states/cmv_cycle_inner_states/sti_cmv_cycle_dwell.hpp>
   #include <sm_respira_1/states/cmv_cycle_inner_states/sti_cmv_cycle_expire.hpp>
   #include <sm_respira_1/states/cmv_cycle_inner_states/sti_cmv_cycle_inspire.hpp>
   #include <sm_respira_1/states/cmv_cycle_inner_states/sti_cmv_cycle_loop.hpp>
   #include <sm_respira_1/states/cmv_cycle_inner_states/sti_cmv_cycle_plateau.hpp>
   
   //ss_pc_cycle
   #include <sm_respira_1/states/pc_cycle_inner_states/sti_pc_cycle_dwell.hpp>
   #include <sm_respira_1/states/pc_cycle_inner_states/sti_pc_cycle_expire.hpp>
   #include <sm_respira_1/states/pc_cycle_inner_states/sti_pc_cycle_inspire.hpp>
   #include <sm_respira_1/states/pc_cycle_inner_states/sti_pc_cycle_loop.hpp>
   #include <sm_respira_1/states/pc_cycle_inner_states/sti_pc_cycle_plateau.hpp>
   
   //ss_ps_cycle
   #include <sm_respira_1/states/ps_cycle_inner_states/sti_ps_cycle_dwell.hpp>
   #include <sm_respira_1/states/ps_cycle_inner_states/sti_ps_cycle_expire.hpp>
   #include <sm_respira_1/states/ps_cycle_inner_states/sti_ps_cycle_inspire.hpp>
   #include <sm_respira_1/states/ps_cycle_inner_states/sti_ps_cycle_loop.hpp>
   #include <sm_respira_1/states/ps_cycle_inner_states/sti_ps_cycle_plateau.hpp>