Program Listing for File st_shutting_down.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
*
******************************************************************************************************************/
#include <smacc2/smacc.hpp>
namespace sm_atomic_lifecycle
{
using sm_atomic_lifecycle::OrLifecycleNode;
using namespace cl_lifecyclenode;
// STATE DECLARATION
struct StShuttingDown : smacc2::SmaccState<StShuttingDown, SmAtomicLifecycle>
{
using SmaccState::SmaccState;
// TRANSITION TABLE
typedef mpl::list<
Transition<EvTransitionOnShutdownSuccess<ClLifecycleNode, OrLifecycleNode>, StFinalized, SUCCESS>,
Transition<EvTransitionOnShutdownError<ClLifecycleNode, OrLifecycleNode>, StErrorProcessing, ABORT>
>reactions;
// STATE FUNCTIONS
static void staticConfigure()
{
}
void runtimeConfigure()
{
}
void onEntry() { RCLCPP_INFO(getLogger(), "On Entry!"); }
void onExit() { RCLCPP_INFO(getLogger(), "On Exit!"); }
};
} // namespace sm_atomic_lifecycle