.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_autoware_avp_include_sm_autoware_avp_sm_autoware_avp.hpp:

Program Listing for File sm_autoware_avp.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_autoware_avp_include_sm_autoware_avp_sm_autoware_avp.hpp>` (``/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_autoware_avp/include/sm_autoware_avp/sm_autoware_avp.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 MyName/MyCompany Inc.
   // Copyright 2021 RobosoftAI Inc. (template)
   //
   // 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 <memory>
   
   #include "rclcpp/rclcpp.hpp"
   #include "smacc2/smacc.hpp"
   
   // ORTHOGONALS
   #include "orthogonals/or_autoware_auto.hpp"
   #include "orthogonals/or_timer.hpp"
   
   // CLIENTS
   #include "clients/autoware_client/cl_autoware.hpp"
   
   namespace sm_autoware_avp
   {
   // SMACC2 clases
   using sm_autoware_avp::OrAutowareAuto;
   
   //STATES
   struct StAcquireSensors;
   struct StSetupInitialLocationEstimation;
   struct StNavigateWaypoint1;
   struct StNavigateWaypoint2;
   struct StFirstPause;
   struct StSecondPause;
   
   //--------------------------------------------------------------------
   //STATE_MACHINE
   struct SmAutowareAvp
   : public smacc2::SmaccStateMachineBase<SmAutowareAvp, StAcquireSensors>
   {
     using SmaccStateMachineBase::SmaccStateMachineBase;
   
     void onInitialize() override
     {
       this->createOrthogonal<OrAutowareAuto>();
       this->createOrthogonal<OrTimer>();
     }
   };
   
   }  // namespace sm_autoware_avp
   
   // STATES
   #include "states/st_acquire_sensors.hpp"
   #include "states/st_setup_initial_location_estimation.hpp"
   #include "states/st_navigate_waypoint_1.hpp"
   #include "states/st_navigate_waypoint_2.hpp"
   #include "states/st_first_pause.hpp"
   #include "states/st_second_pause.hpp"