.. _program_listing_file__tmp_ws_src_smacc2_smacc2_include_smacc2_smacc_default_events.hpp:

Program Listing for File smacc_default_events.hpp
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|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_smacc2_smacc2_include_smacc2_smacc_default_events.hpp>` (``/tmp/ws/src/smacc2/smacc2/include/smacc2/smacc_default_events.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
    *
    ******************************************************************************************************************/
   
   #pragma once
   
   #include <smacc2/smacc_types.hpp>
   
   #include <boost/statechart/event.hpp>
   #include <boost/statechart/state.hpp>
   
   namespace smacc2
   {
   // template <typename T>
   // using  event=sc::event<T>;
   
   namespace default_events
   {
   using namespace smacc2::introspection;
   using namespace smacc2::default_transition_tags;
   
   //-------------- ACTION EVENTS --------------------------------------------------------
   template <typename ActionFeedback, typename TOrthogonal>
   struct EvActionFeedback : sc::event<EvActionFeedback<ActionFeedback, TOrthogonal>>
   {
     smacc2::client_bases::ISmaccActionClient * client;
     ActionFeedback feedbackMessage;
     // boost::any feedbackMessage;
   };
   
   template <typename TSource, typename TOrthogonal>
   struct EvActionResult : sc::event<EvActionResult<TSource, TOrthogonal>>
   {
     typename TSource::WrappedResult resultMessage;
   };
   
   template <typename TSource, typename TOrthogonal>
   struct EvActionSucceeded : sc::event<EvActionSucceeded<TSource, TOrthogonal>>
   {
     typename TSource::WrappedResult resultMessage;
   
     static std::string getEventLabel()
     {
       // show ros message type
       std::string label;
       EventLabel<TSource>(label);
       return label;
     }
   
     static std::string getDefaultTransitionTag() { return demangledTypeName<SUCCESS>(); }
   
     static std::string getDefaultTransitionType() { return demangledTypeName<SUCCESS>(); }
   };
   
   template <typename TSource, typename TOrthogonal>
   struct EvActionAborted : sc::event<EvActionAborted<TSource, TOrthogonal>>
   {
     typename TSource::WrappedResult resultMessage;
   
     static std::string getEventLabel()
     {
       // show ros message type
       std::string label;
       EventLabel<TSource>(label);
       return label;
     }
   
     static std::string getDefaultTransitionTag() { return demangledTypeName<ABORT>(); }
   
     static std::string getDefaultTransitionType() { return demangledTypeName<ABORT>(); }
   };
   
   template <typename TSource, typename TOrthogonal>
   struct EvActionCancelled : sc::event<EvActionCancelled<TSource, TOrthogonal>>
   {
     typename TSource::WrappedResult resultMessage;
   
     static std::string getEventLabel()
     {
       // show ros message type
       std::string label;
       EventLabel<TSource>(label);
       return label;
     }
   
     static std::string getDefaultTransitionTag() { return demangledTypeName<CANCEL>(); }
   
     static std::string getDefaultTransitionType() { return demangledTypeName<CANCEL>(); }
   };
   
   //---------- CONTROL FLOW EVENTS ----------------------------------------------------------
   
   template <typename StateType>
   struct EvStateRequestFinish : sc::event<EvStateRequestFinish<StateType>>
   {
   };
   
   template <typename StateType>
   struct EvSequenceFinished : sc::event<EvSequenceFinished<StateType>>
   {
   };
   
   template <typename TSource>
   struct EvLoopContinue : sc::event<EvLoopContinue<TSource>>
   {
     static std::string getDefaultTransitionTag() { return demangledTypeName<CONTINUELOOP>(); }
   
     static std::string getDefaultTransitionType() { return demangledTypeName<CONTINUELOOP>(); }
   };
   
   template <typename TSource>
   struct EvLoopEnd : sc::event<EvLoopEnd<TSource>>
   {
     static std::string getDefaultTransitionTag() { return demangledTypeName<ENDLOOP>(); }
   
     static std::string getDefaultTransitionType() { return demangledTypeName<ENDLOOP>(); }
   };
   
   //---------- CONTROL FLOW EVENTS ----------------------------------------------------------
   template <
     typename TSource, typename TOrthogonal, typename TMessageType = typename TSource::TMessageType>
   struct EvTopicInitialMessage : sc::event<EvTopicInitialMessage<TSource, TOrthogonal, TMessageType>>
   {
     // typename EvTopicInitialMessage<SensorBehaviorType>::TMessageType msgData;
     static std::string getEventLabel()
     {
       auto typeinfo = TypeInfo::getTypeInfoFromType<TMessageType>();
   
       std::string label = typeinfo->getNonTemplatedTypeName();
       return label;
     }
   
     TMessageType msgData;
   };
   
   template <
     typename TSource, typename TOrthogonal, typename TMessageType = typename TSource::TMessageType>
   struct EvTopicMessage : sc::event<EvTopicMessage<TSource, TOrthogonal, TMessageType>>
   {
     static std::string getEventLabel()
     {
       auto typeinfo = TypeInfo::getTypeInfoFromType<TMessageType>();
   
       std::string label = typeinfo->getNonTemplatedTypeName();
       return label;
     }
   
     TMessageType msgData;
   };
   }  // namespace default_events
   }  // namespace smacc2