Program Listing for File sti_execute_sequence_b_step_1.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.
namespace sm_pack_ml
{
namespace execute_sequence_b
{
// STATE DECLARATION
struct StiExecuteSequenceBStep1 : smacc2::SmaccState<StiExecuteSequenceBStep1, SsExecuteSequenceB>
{
using SmaccState::SmaccState;
// DECLARE CUSTOM OBJECT TAGS
struct TIMEOUT : ABORT{};
struct NEXT : SUCCESS{};
struct PREVIOUS : ABORT{};
struct RETURN : CANCEL{};
// TRANSITION TABLE
typedef mpl::list<
Transition<EvTimer<CbTimerCountdownOnce, OrTimer>, StiExecuteSequenceBStep2, TIMEOUT>,
Transition<EvKeyPressN<CbDefaultKeyboardBehavior, OrKeyboard>, StiExecuteSequenceBStep2, NEXT>,
Transition<EvKeyPressP<CbDefaultKeyboardBehavior, OrKeyboard>, StiExecuteSequenceBLoop, PREVIOUS>
// Transition<EvKeyPressZ<CbDefaultKeyboardBehavior, OrKeyboard>, ExecuteStObserve, RETURN>,
// Transition<EvKeyPressX<CbDefaultKeyboardBehavior, OrKeyboard>, MsRecovery1, ABORT>
>reactions;
// STATE FUNCTIONS
static void staticConfigure()
{
configure_orthogonal<OrTimer, CbTimerCountdownOnce>(20);
configure_orthogonal<OrSubscriber, CbWatchdogSubscriberBehavior>();
configure_orthogonal<OrUpdatablePublisher, CbDefaultPublishLoop>();
configure_orthogonal<OrKeyboard, CbDefaultKeyboardBehavior>();
}
void runtimeConfigure() {}
void onEntry() { RCLCPP_INFO(getLogger(), "On Entry!"); }
void onExit() { RCLCPP_INFO(getLogger(), "On Exit!"); }
};
} // namespace execute_sequence_b
} // namespace sm_pack_ml