.. _program_listing_file__tmp_ws_src_smacc2_smacc2_sm_reference_library_sm_atomic_lifecycle_include_sm_atomic_lifecycle_sm_atomic_lifecycle.hpp:

Program Listing for File sm_atomic_lifecycle.hpp
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|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_smacc2_smacc2_sm_reference_library_sm_atomic_lifecycle_include_sm_atomic_lifecycle_sm_atomic_lifecycle.hpp>` (``/tmp/ws/src/smacc2/smacc2_sm_reference_library/sm_atomic_lifecycle/include/sm_atomic_lifecycle/sm_atomic_lifecycle.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.
   
   /*****************************************************************************************************************
    *
    *   Authors: Pablo Inigo Blasco, Brett Aldrich
    *
    ******************************************************************************************************************/
   
   #include <smacc2/smacc.hpp>
   
   // CLIENTS
   #include <ros_timer_client/cl_ros_timer.hpp>
   #include <lifecyclenode_client/lifecyclenode_client.hpp>
   
   //CLIENT BEHAVIORS
   #include <ros_timer_client/client_behaviors/cb_timer_countdown_loop.hpp>
   #include <ros_timer_client/client_behaviors/cb_timer_countdown_once.hpp>
   #include <lifecyclenode_client/client_behaviors.hpp>
   
   // ORTHOGONALS
   #include "orthogonals/or_timer.hpp"
   #include "orthogonals/or_lifecyclenode.hpp"
   
   using namespace boost;
   using namespace smacc2;
   
   namespace sm_atomic_lifecycle
   {
   //STATE
   class StActivating;
   class StActive;
   class StCleaningUp;
   class StConfiguring;
   class StDeactivating;
   class StErrorProcessing;
   class StFinalized;
   class StInactive;
   class StShuttingDown;
   class StUnconfigured;
   
   //--------------------------------------------------------------------
   //STATE_MACHINE
   struct SmAtomicLifecycle : public smacc2::SmaccStateMachineBase<SmAtomicLifecycle, StUnconfigured>
   {
     using SmaccStateMachineBase::SmaccStateMachineBase;
   
     virtual void onInitialize() override
     {
       this->createOrthogonal<OrTimer>();
       this->createOrthogonal<OrLifecycleNode>();
     }
   };
   
   }  // namespace sm_atomic_lifecycle
   
   #include "states/st_activating.hpp"
   #include "states/st_active.hpp"
   #include "states/st_cleaning_up.hpp"
   #include "states/st_configuring.hpp"
   #include "states/st_deactivating.hpp"
   #include "states/st_error_processing.hpp"
   #include "states/st_finalized.hpp"
   #include "states/st_inactive.hpp"
   #include "states/st_shutting_down.hpp"
   #include "states/st_unconfigured.hpp"