Program Listing for File cb_updatable_test.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.

/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 *****************************************************************************************************************/

#pragma once

#include <smacc2/smacc.hpp>

class CbUpdatableTest : public smacc2::ISmaccUpdatable, public smacc2::ISmaccClientBehavior
{
public:
    CbUpdatableTest()
    {
        this->counter_ = 0;
    }

    virtual void onEntry()
    {
        RCLCPP_INFO(getLogger(),"CbUpdatableTest::onEntry");
    }

    virtual void onExit()
    {
        RCLCPP_INFO(getLogger(),"CbUpdatableTest::onExit");
    }

    virtual void update() override
    {
        auto currentState = this->getCurrentState();
        this->counter_++;
        RCLCPP_INFO(getLogger(),"CbUpdatableTest::onUpdate %d in state %s", this->counter_, currentState->getClassName().c_str());
    }

    int counter_;
};