.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_three_some_include_sm_three_some_sm_three_some.hpp:

Program Listing for File sm_three_some.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_three_some_include_sm_three_some_sm_three_some.hpp>` (``/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_three_some/include/sm_three_some/sm_three_some.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 <smacc2/smacc.hpp>
   
   // CLIENTS
   #include <keyboard_client/cl_keyboard.hpp>
   #include <ros_timer_client/cl_ros_timer.hpp>
   
   // ORTHOGONALS
   #include <sm_three_some/orthogonals/or_keyboard.hpp>
   #include <sm_three_some/orthogonals/or_subscriber.hpp>
   #include <sm_three_some/orthogonals/or_timer.hpp>
   #include <sm_three_some/orthogonals/or_updatable_publisher.hpp>
   
   using namespace cl_ros_timer;
   using namespace cl_ros_publisher;
   using namespace cl_keyboard;
   using namespace sm_three_some::cl_subscriber;
   
   // CLIENT BEHAVIORS
   #include <keyboard_client/client_behaviors/cb_default_keyboard_behavior.hpp>
   #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_three_some/clients/cl_subscriber/client_behaviors/cb_default_subscriber_behavior.hpp>
   #include <sm_three_some/clients/cl_subscriber/client_behaviors/cb_watchdog_subscriber_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_three_some
   {
   // SUPERSTATES
   namespace SS1
   {
   class Ss1;
   }  // namespace SS1
   
   // SUPERSTATES
   namespace SS2
   {
   class Ss2;
   }  // namespace SS2
   
   // STATES
   class StState1;  // first state specially needs a forward declaration
   class StState2;
   class StState3;
   class StState4;
   
   class MsRun;
   class MsRecover;
   
   struct EvToDeep : sc::event<EvToDeep>
   {
   };
   
   struct EvFail : sc::event<EvFail>
   {
   };
   
   // STATE MACHINE
   struct SmThreeSome : public smacc2::SmaccStateMachineBase<SmThreeSome, MsRun>
   {
     using SmaccStateMachineBase::SmaccStateMachineBase;
   
     void onInitialize() override
     {
       this->createOrthogonal<OrTimer>();
       this->createOrthogonal<OrUpdatablePublisher>();
       this->createOrthogonal<OrKeyboard>();
       this->createOrthogonal<OrSubscriber>();
     }
   };
   }  // namespace sm_three_some
   
   // MODE STATES
   #include <sm_three_some/mode_states/ms_run.hpp>
   
   #include <sm_three_some/mode_states/ms_recover.hpp>
   
   // STATES
   #include <sm_three_some/states/st_state_1.hpp>
   #include <sm_three_some/states/st_state_2.hpp>
   #include <sm_three_some/states/st_state_3.hpp>
   #include <sm_three_some/states/st_state_4.hpp>
   #include <sm_three_some/superstates/ss_superstate_1.hpp>
   #include <sm_three_some/superstates/ss_superstate_2.hpp>