Turnstile.cpp

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#include <iostream>

#include <ros/ros.h>

#include <decision_making/SynchCout.h>
#include <decision_making/BT.h>
#include <decision_making/FSM.h>
#include <decision_making/ROSTask.h>
#include <decision_making/DecisionMaking.h>

using namespace std;
using namespace decision_making;

FSM(Turnstile)
{
        FSM_STATES
        {
                Locked,
                Unlocked
        }
        FSM_START(Locked);
        FSM_BGN
        {
                FSM_STATE(Locked)
                {
                        FSM_TRANSITIONS
                        {
                                FSM_ON_EVENT("/COIN", FSM_NEXT(Unlocked));
                                FSM_ON_EVENT("/PUSH", FSM_NEXT(Locked));
                        }
                }
                FSM_STATE(Unlocked)
                {
                        FSM_TRANSITIONS
                        {
                                FSM_ON_EVENT("/COIN", FSM_NEXT(Unlocked));
                                FSM_ON_EVENT("/PUSH", FSM_NEXT(Locked));
                        }
                }
        }
        FSM_END
}

int main(int argc, char** argv){

        ros::init(argc, argv, "fsm_turnstile");
        ros_decision_making_init(argc, argv);

        ros::AsyncSpinner spinner(2);
        spinner.start();

        ROS_INFO("Starting turnstile...");
        FsmTurnstile(NULL, new RosEventQueue());

        spinner.stop();

        return 0;
}