diff --git a/smacc2/include/smacc2/client_bases/smacc_action_client_base.hpp b/smacc2/include/smacc2/client_bases/smacc_action_client_base.hpp index f93bbe0b0..0ec183f24 100644 --- a/smacc2/include/smacc2/client_bases/smacc_action_client_base.hpp +++ b/smacc2/include/smacc2/client_bases/smacc_action_client_base.hpp @@ -131,7 +131,7 @@ class SmaccActionClientBase : public ISmaccActionClient } template - void onOrthogonalAllocation() + void onStateOrthogonalAllocation() { // we create here all the event factory functions capturing the TOrthogonal postSuccessEvent = [this](auto msg) diff --git a/smacc2/include/smacc2/client_bases/smacc_subscriber_client.hpp b/smacc2/include/smacc2/client_bases/smacc_subscriber_client.hpp index 24b29344f..65ce389e4 100644 --- a/smacc2/include/smacc2/client_bases/smacc_subscriber_client.hpp +++ b/smacc2/include/smacc2/client_bases/smacc_subscriber_client.hpp @@ -75,7 +75,7 @@ class SmaccSubscriberClient : public smacc2::ISmaccClient } template - void onOrthogonalAllocation() + void onStateOrthogonalAllocation() { // ros topic message received smacc event callback this->postMessageEvent = [this](auto msg) diff --git a/smacc2/include/smacc2/client_behaviors/cb_ros_launch.hpp b/smacc2/include/smacc2/client_behaviors/cb_ros_launch.hpp index a3ff26cc2..2cb7537df 100644 --- a/smacc2/include/smacc2/client_behaviors/cb_ros_launch.hpp +++ b/smacc2/include/smacc2/client_behaviors/cb_ros_launch.hpp @@ -47,9 +47,9 @@ class CbRosLaunch : public smacc2::SmaccAsyncClientBehavior virtual ~CbRosLaunch(); template - void onOrthogonalAllocation() + void onStateOrthogonalAllocation() { - smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation(); + smacc2::SmaccAsyncClientBehavior::onStateOrthogonalAllocation(); } void onEntry() override; diff --git a/smacc2/include/smacc2/client_behaviors/cb_ros_launch_2.hpp b/smacc2/include/smacc2/client_behaviors/cb_ros_launch_2.hpp index fafac1bb2..39cf10350 100644 --- a/smacc2/include/smacc2/client_behaviors/cb_ros_launch_2.hpp +++ b/smacc2/include/smacc2/client_behaviors/cb_ros_launch_2.hpp @@ -47,9 +47,9 @@ class CbRosLaunch2 : public smacc2::SmaccAsyncClientBehavior virtual ~CbRosLaunch2(); template - void onOrthogonalAllocation() + void onStateOrthogonalAllocation() { - smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation(); + smacc2::SmaccAsyncClientBehavior::onStateOrthogonalAllocation(); } void onEntry() override; diff --git a/smacc2/include/smacc2/client_behaviors/cb_ros_stop_2.hpp b/smacc2/include/smacc2/client_behaviors/cb_ros_stop_2.hpp index 7767036ca..026acd975 100644 --- a/smacc2/include/smacc2/client_behaviors/cb_ros_stop_2.hpp +++ b/smacc2/include/smacc2/client_behaviors/cb_ros_stop_2.hpp @@ -41,9 +41,9 @@ class CbRosStop2 : public smacc2::SmaccAsyncClientBehavior virtual ~CbRosStop2(); template - void onOrthogonalAllocation() + void onStateOrthogonalAllocation() { - smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation(); + smacc2::SmaccAsyncClientBehavior::onStateOrthogonalAllocation(); } void onEntry() override; diff --git a/smacc2/include/smacc2/client_behaviors/cb_sequence.hpp b/smacc2/include/smacc2/client_behaviors/cb_sequence.hpp index 56e933548..605a58c9e 100644 --- a/smacc2/include/smacc2/client_behaviors/cb_sequence.hpp +++ b/smacc2/include/smacc2/client_behaviors/cb_sequence.hpp @@ -46,12 +46,6 @@ class CbSequence : public smacc2::SmaccAsyncClientBehavior void onEntry() override; - // template - // void onOrthogonalAllocation() - // { - // smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation(); - // } - void onExit() override { sequenceNodes_.clear(); } template @@ -66,7 +60,7 @@ class CbSequence : public smacc2::SmaccAsyncClientBehavior auto createdBh = std::shared_ptr(new TBehavior(args...)); this->getCurrentState()->getOrthogonal()->addClientBehavior(createdBh); - createdBh->template onOrthogonalAllocation(); + createdBh->template onStateOrthogonalAllocation(); return createdBh; }; diff --git a/smacc2/include/smacc2/client_behaviors/cb_wait_action_server.hpp b/smacc2/include/smacc2/client_behaviors/cb_wait_action_server.hpp index da146bb28..32b97e1bc 100644 --- a/smacc2/include/smacc2/client_behaviors/cb_wait_action_server.hpp +++ b/smacc2/include/smacc2/client_behaviors/cb_wait_action_server.hpp @@ -39,9 +39,9 @@ class CbWaitActionServer : public smacc2::SmaccAsyncClientBehavior virtual ~CbWaitActionServer(); template - void onOrthogonalAllocation() + void onStateOrthogonalAllocation() { - SmaccAsyncClientBehavior::onOrthogonalAllocation(); + SmaccAsyncClientBehavior::onStateOrthogonalAllocation(); // requires an action client this->requiresClient(client_); diff --git a/smacc2/include/smacc2/component.hpp b/smacc2/include/smacc2/component.hpp index 4b0ebfc37..97d33a630 100644 --- a/smacc2/include/smacc2/component.hpp +++ b/smacc2/include/smacc2/component.hpp @@ -51,35 +51,11 @@ class ISmaccComponent template void postEvent(); - template - [[deprecated( - "Use onStateOrthogonalAllocation instead. onOrthogonalAllocation will be removed in future " - "versions.")]] void - onOrthogonalAllocation() - { - } - - // New method: called when the component is allocated to a state (replaces onOrthogonalAllocation) template void onStateOrthogonalAllocation() { } - template - [[deprecated( - "Use requiresComponent with ComponentRequirement argument instead. This method will be removed " - "in future " - "versions.")]] void - requiresComponent(TComponent *& requiredComponentStorage, bool throwExceptionIfNotExist); - - template - [[deprecated( - "Use requiresComponent with ComponentRequirement argument instead. This method will be removed " - "in future " - "versions.")]] void - requiresComponent( - std::string name, TComponent *& requiredComponentStorage, bool throwExceptionIfNotExist); - template void requiresComponent( TComponent *& requiredComponentStorage, diff --git a/smacc2/include/smacc2/impl/smacc_asynchronous_client_behavior_impl.hpp b/smacc2/include/smacc2/impl/smacc_asynchronous_client_behavior_impl.hpp index 949eccf75..89172b753 100644 --- a/smacc2/include/smacc2/impl/smacc_asynchronous_client_behavior_impl.hpp +++ b/smacc2/include/smacc2/impl/smacc_asynchronous_client_behavior_impl.hpp @@ -24,14 +24,9 @@ namespace smacc2 { -template -void SmaccAsyncClientBehavior::onStateOrthogonalAllocation() -{ - this->onOrthogonalAllocation(); -} template -void SmaccAsyncClientBehavior::onOrthogonalAllocation() +void SmaccAsyncClientBehavior::onStateOrthogonalAllocation() { if (postFinishEventFn_ || postSuccessEventFn_ || postFailureEventFn_) { @@ -39,7 +34,7 @@ void SmaccAsyncClientBehavior::onOrthogonalAllocation() getLogger(), "SmaccAsyncClientBehavior already has event posting functions assigned. Skipping " "re-assignment. This could be a problem if you are using the same behavior in multiple " - "states. This may be related with the deprecation of onOrthogonalAllocation in favor of " + "states. This may be related with the deprecation of onStateOrthogonalAllocation in favor of " "onStateOrthogonalAllocation."); return; diff --git a/smacc2/include/smacc2/impl/smacc_client_behavior_impl.hpp b/smacc2/include/smacc2/impl/smacc_client_behavior_impl.hpp index 2b3d7a63a..77b8f6c5b 100644 --- a/smacc2/include/smacc2/impl/smacc_client_behavior_impl.hpp +++ b/smacc2/include/smacc2/impl/smacc_client_behavior_impl.hpp @@ -82,24 +82,10 @@ void ISmaccClientBehavior::requiresComponent( } else { - bool throwExceptionIfNotExist = (ComponentRequirement::HARD == requirementType); - stateMachine_->requiresComponent(storage, throwExceptionIfNotExist); + stateMachine_->requiresComponent(storage, requirementType); } } -template -void ISmaccClientBehavior::requiresComponent( - SmaccComponentType *& storage, bool throwExceptionIfNotExist) -{ - this->requiresComponent( - storage, throwExceptionIfNotExist ? ComponentRequirement::HARD : ComponentRequirement::SOFT); -} - -template -void ISmaccClientBehavior::onOrthogonalAllocation() -{ -} - template void ISmaccClientBehavior::onStateOrthogonalAllocation() { diff --git a/smacc2/include/smacc2/impl/smacc_client_impl.hpp b/smacc2/include/smacc2/impl/smacc_client_impl.hpp index e44c47fea..fbe62404f 100644 --- a/smacc2/include/smacc2/impl/smacc_client_impl.hpp +++ b/smacc2/include/smacc2/impl/smacc_client_impl.hpp @@ -124,7 +124,6 @@ SmaccComponentType * ISmaccClient::createNamedComponent(std::string name, TArgs. ret = dynamic_pointer_cast(it->second); } - ret->template onOrthogonalAllocation(); ret->template onStateOrthogonalAllocation(); return ret.get(); diff --git a/smacc2/include/smacc2/impl/smacc_component_impl.hpp b/smacc2/include/smacc2/impl/smacc_component_impl.hpp index df9229871..685af9edf 100644 --- a/smacc2/include/smacc2/impl/smacc_component_impl.hpp +++ b/smacc2/include/smacc2/impl/smacc_component_impl.hpp @@ -40,24 +40,6 @@ void ISmaccComponent::postEvent() stateMachine_->postEvent(ev); } -template -void ISmaccComponent::requiresComponent( - TComponent *& requiredComponentStorage, bool throwExceptionIfNotExist) -{ - this->requiresComponent( - requiredComponentStorage, - throwExceptionIfNotExist ? ComponentRequirement::HARD : ComponentRequirement::SOFT); -} - -template -void ISmaccComponent::requiresComponent( - std::string name, TComponent *& requiredComponentStorage, bool throwExceptionIfNotExist) -{ - this->requiresComponent( - name, requiredComponentStorage, - throwExceptionIfNotExist ? ComponentRequirement::HARD : ComponentRequirement::SOFT); -} - template void ISmaccComponent::requiresComponent( TComponent *& requiredComponentStorage, ComponentRequirement requirementType) diff --git a/smacc2/include/smacc2/impl/smacc_event_generator_impl.hpp b/smacc2/include/smacc2/impl/smacc_event_generator_impl.hpp index 29a80f993..7a6e28de2 100644 --- a/smacc2/include/smacc2/impl/smacc_event_generator_impl.hpp +++ b/smacc2/include/smacc2/impl/smacc_event_generator_impl.hpp @@ -41,8 +41,4 @@ void SmaccEventGenerator::onStateOrthogonalAllocation() { } -template -void SmaccEventGenerator::onOrthogonalAllocation() -{ -} } // namespace smacc2 diff --git a/smacc2/include/smacc2/impl/smacc_orthogonal_impl.hpp b/smacc2/include/smacc2/impl/smacc_orthogonal_impl.hpp index 1dd69c3b5..fa27bfbeb 100644 --- a/smacc2/include/smacc2/impl/smacc_orthogonal_impl.hpp +++ b/smacc2/include/smacc2/impl/smacc_orthogonal_impl.hpp @@ -85,7 +85,6 @@ void ISmaccOrthogonal::assignClientToOrthogonal(TClient * client) client->setStateMachine(getStateMachine()); client->setOrthogonal(this); - client->template onOrthogonalAllocation(); client->template onStateOrthogonalAllocation(); } diff --git a/smacc2/include/smacc2/impl/smacc_state_impl.hpp b/smacc2/include/smacc2/impl/smacc_state_impl.hpp index d70b765ab..25bbffeda 100644 --- a/smacc2/include/smacc2/impl/smacc_state_impl.hpp +++ b/smacc2/include/smacc2/impl/smacc_state_impl.hpp @@ -47,7 +47,6 @@ std::shared_ptr ISmaccState::configure(Args &&... args) std::shared_ptr(new TBehavior(args...)); // is there an error here? are the // behavior constructor parameters right? orthogonal->addClientBehavior(clientBehavior); - clientBehavior->template onOrthogonalAllocation(); clientBehavior->template onStateOrthogonalAllocation(); return clientBehavior; } diff --git a/smacc2/include/smacc2/impl/smacc_state_machine_impl.hpp b/smacc2/include/smacc2/impl/smacc_state_machine_impl.hpp index 055612511..75f8f4ca2 100644 --- a/smacc2/include/smacc2/impl/smacc_state_machine_impl.hpp +++ b/smacc2/include/smacc2/impl/smacc_state_machine_impl.hpp @@ -124,8 +124,10 @@ void ISmaccStateMachine::createOrthogonal() //------------------------------------------------------------------------------------------------------- template -void ISmaccStateMachine::requiresComponent(SmaccComponentType *& storage, bool throwsException) +void ISmaccStateMachine::requiresComponent( + SmaccComponentType *& storage, ComponentRequirement requirementType) { + bool throwsException = requirementType == ComponentRequirement::HARD; RCLCPP_DEBUG( getLogger(), "component %s is required", demangleSymbol(typeid(SmaccComponentType).name()).c_str()); diff --git a/smacc2/include/smacc2/introspection/smacc_state_machine_info.hpp b/smacc2/include/smacc2/introspection/smacc_state_machine_info.hpp index f677e2369..28690fd4e 100644 --- a/smacc2/include/smacc2/introspection/smacc_state_machine_info.hpp +++ b/smacc2/include/smacc2/introspection/smacc_state_machine_info.hpp @@ -165,7 +165,13 @@ typename enable_if>::type processTransitions( sourceState->fullStateName.c_str()); using boost::mpl::_1; using wrappedList = typename boost::mpl::transform>::type; + RCLCPP_INFO( + globalNh_->get_logger(), "[DIAG] About to call boost::mpl::for_each for state %s", + sourceState->fullStateName.c_str()); boost::mpl::for_each(AddTransition(sourceState)); + RCLCPP_INFO( + globalNh_->get_logger(), "[DIAG] Completed boost::mpl::for_each for state %s", + sourceState->fullStateName.c_str()); } template @@ -173,8 +179,14 @@ void processTransition( smacc2::Transition, Tag> *, std::shared_ptr & sourceState) { + RCLCPP_INFO( + globalNh_->get_logger(), "[DIAG] processTransition [deep_history] START for state %s", + sourceState->toShortName().c_str()); auto transitionTypeInfo = TypeInfo::getTypeInfoFromType< smacc2::Transition, Tag>>(); + RCLCPP_INFO( + globalNh_->get_logger(), "[DIAG] processTransition [deep_history] got TypeInfo for state %s", + sourceState->toShortName().c_str()); smacc2::Transition * mock = nullptr; processTransitionAux(mock, sourceState, true, transitionTypeInfo); } @@ -183,7 +195,13 @@ template void processTransition( smacc2::Transition * t, std::shared_ptr & sourceState) { + RCLCPP_INFO( + globalNh_->get_logger(), "[DIAG] processTransition START for state %s", + sourceState->toShortName().c_str()); auto transitionTypeInfo = TypeInfo::getTypeInfoFromType>(); + RCLCPP_INFO( + globalNh_->get_logger(), "[DIAG] processTransition got TypeInfo for state %s", + sourceState->toShortName().c_str()); RCLCPP_INFO( globalNh_->get_logger(), "State %s Walker transition: %s", sourceState->toShortName().c_str(), demangleSymbol(typeid(Ev).name()).c_str()); @@ -338,10 +356,14 @@ template typename disable_if>::type processTransitions( std::shared_ptr & sourceState) { - // RCLCPP_INFO_STREAM(getLogger(),"state transition from: " << sourceState->demangledStateName << - // " of type: " << demangledTypeName()); + RCLCPP_INFO( + globalNh_->get_logger(), "[DIAG] processTransitions [single/leaf] called for state %s", + sourceState->fullStateName.c_str()); T * dummy = nullptr; processTransition(dummy, sourceState); + RCLCPP_INFO( + globalNh_->get_logger(), "[DIAG] processTransitions [single/leaf] completed for state %s", + sourceState->fullStateName.c_str()); } template @@ -396,7 +418,13 @@ template < template typename EvType, typename Tag, typename DestinyState> void AddTransition::operator()(TTransition, DestinyState, Tag>) { + RCLCPP_INFO( + globalNh_->get_logger(), "[DIAG] AddTransition::operator() [3-param] called for state %s", + currentState_->fullStateName.c_str()); processTransitions, DestinyState, Tag>>(currentState_); + RCLCPP_INFO( + globalNh_->get_logger(), "[DIAG] AddTransition::operator() [3-param] completed for state %s", + currentState_->fullStateName.c_str()); } //-------------------------------------------- @@ -406,14 +434,26 @@ template < template typename EvType, typename DestinyState> void AddTransition::operator()(TTransition, DestinyState>) { + RCLCPP_INFO( + globalNh_->get_logger(), "[DIAG] AddTransition::operator() [2-param] called for state %s", + currentState_->fullStateName.c_str()); processTransitions, DestinyState>>(currentState_); + RCLCPP_INFO( + globalNh_->get_logger(), "[DIAG] AddTransition::operator() [2-param] completed for state %s", + currentState_->fullStateName.c_str()); } template void AddTransition::operator()(TTrans) { + RCLCPP_INFO( + globalNh_->get_logger(), "[DIAG] AddTransition::operator() [generic] called for state %s", + currentState_->fullStateName.c_str()); using type_t = typename TTrans::type; processTransitions(currentState_); + RCLCPP_INFO( + globalNh_->get_logger(), "[DIAG] AddTransition::operator() [generic] completed for state %s", + currentState_->fullStateName.c_str()); } /* diff --git a/smacc2/include/smacc2/smacc_asynchronous_client_behavior.hpp b/smacc2/include/smacc2/smacc_asynchronous_client_behavior.hpp index 924c7ba14..3ff31a955 100644 --- a/smacc2/include/smacc2/smacc_asynchronous_client_behavior.hpp +++ b/smacc2/include/smacc2/smacc_asynchronous_client_behavior.hpp @@ -55,9 +55,6 @@ struct EvCbFailure : sc::event> class SmaccAsyncClientBehavior : public ISmaccClientBehavior { public: - template - void onOrthogonalAllocation(); - template void onStateOrthogonalAllocation(); diff --git a/smacc2/include/smacc2/smacc_client.hpp b/smacc2/include/smacc2/smacc_client.hpp index dc966191d..d8d120e7a 100644 --- a/smacc2/include/smacc2/smacc_client.hpp +++ b/smacc2/include/smacc2/smacc_client.hpp @@ -91,16 +91,6 @@ class ISmaccClient { } - // it is called after the client initialization, provides information about the orthogonal it is located in - template - [[deprecated( - "Use onStateOrthogonalAllocation instead. onOrthogonalAllocation will be removed in future " - "versions.")]] void - onOrthogonalAllocation() - { - } - - // New method: called when the client is allocated to a state (replaces onOrthogonalAllocation) template void onStateOrthogonalAllocation() { diff --git a/smacc2/include/smacc2/smacc_client_behavior_base.hpp b/smacc2/include/smacc2/smacc_client_behavior_base.hpp index 9fecdfb2d..466718da9 100644 --- a/smacc2/include/smacc2/smacc_client_behavior_base.hpp +++ b/smacc2/include/smacc2/smacc_client_behavior_base.hpp @@ -41,12 +41,6 @@ class ISmaccClientBehavior template void requiresClient(SmaccClientType *& storage); - template - [[deprecated( - "Use requiresClient with the ComponentRequirement argument. This method will be removed in " - "future versions.")]] void - requiresComponent(SmaccComponentType *& storage, bool throwExceptionIfNotExist); - template void requiresComponent( SmaccComponentType *& storage, @@ -80,13 +74,6 @@ class ISmaccClientBehavior virtual rclcpp::Logger getLogger() const; private: - template - [[deprecated( - "Use onStateOrthogonalAllocation instead. onOrthogonalAllocation will be removed in future " - "versions.")]] void - onOrthogonalAllocation(); - - // New method: called when the client behavior is allocated to a state (replaces onOrthogonalAllocation) template void onStateOrthogonalAllocation(); diff --git a/smacc2/include/smacc2/smacc_event_generator.hpp b/smacc2/include/smacc2/smacc_event_generator.hpp index adcdd124a..5ad7f3092 100644 --- a/smacc2/include/smacc2/smacc_event_generator.hpp +++ b/smacc2/include/smacc2/smacc_event_generator.hpp @@ -42,12 +42,6 @@ class SmaccEventGenerator template void onStateOrthogonalAllocation(); - template - [[deprecated( - "Use onStateOrthogonalAllocation instead. This method will be removed in future " - "releases.")]] void - onOrthogonalAllocation(); - virtual void onEntry(); virtual void onExit(); diff --git a/smacc2/include/smacc2/smacc_state_base.hpp b/smacc2/include/smacc2/smacc_state_base.hpp index 1dce86318..711609e38 100644 --- a/smacc2/include/smacc2/smacc_state_base.hpp +++ b/smacc2/include/smacc2/smacc_state_base.hpp @@ -290,8 +290,7 @@ class SmaccState : public sc::simple_stateconfigureEventGenerator(eg); eg->initialize(state); - eg->template onOrthogonalAllocation< - MostDerived, TEventGenerator>(); // deprecated to extinguish in future + eg->template onStateOrthogonalAllocation(); eg->template onStateOrthogonalAllocation(); return eg; }; diff --git a/smacc2/include/smacc2/smacc_state_machine.hpp b/smacc2/include/smacc2/smacc_state_machine.hpp index 7b81f2f53..2e93d6a25 100644 --- a/smacc2/include/smacc2/smacc_state_machine.hpp +++ b/smacc2/include/smacc2/smacc_state_machine.hpp @@ -92,7 +92,7 @@ class ISmaccStateMachine const std::map> & getOrthogonals() const; template - void requiresComponent(SmaccComponentType *& storage, bool throwsExceptionIfNotExist = false); + void requiresComponent(SmaccComponentType *& storage, ComponentRequirement requirementType); template void postEvent(EventType * ev, EventLifeTime evlifetime = EventLifeTime::ABSOLUTE); diff --git a/smacc2/src/smacc2/client_bases/smacc_ros_launch_client.cpp b/smacc2/src/smacc2/client_bases/smacc_ros_launch_client.cpp index c0e73e5a1..c56ab8346 100644 --- a/smacc2/src/smacc2/client_bases/smacc_ros_launch_client.cpp +++ b/smacc2/src/smacc2/client_bases/smacc_ros_launch_client.cpp @@ -54,7 +54,12 @@ std::future ClRosLaunch::executeRosLaunch( std::array buffer; std::string result; - std::unique_ptr pipe(popen(cmd.str().c_str(), "r"), pclose); + auto pipe_deleter = [](FILE * fp) + { + if (fp) pclose(fp); + }; + std::unique_ptr pipe( + popen(cmd.str().c_str(), "r"), pipe_deleter); if (!pipe) { throw std::runtime_error("popen() failed!"); diff --git a/smacc2/src/smacc2/client_behaviors/cb_ros_launch.cpp b/smacc2/src/smacc2/client_behaviors/cb_ros_launch.cpp index b48e5999d..17b6530c6 100644 --- a/smacc2/src/smacc2/client_behaviors/cb_ros_launch.cpp +++ b/smacc2/src/smacc2/client_behaviors/cb_ros_launch.cpp @@ -40,9 +40,9 @@ CbRosLaunch::CbRosLaunch(std::string package, std::string launchfile, RosLaunchM CbRosLaunch::~CbRosLaunch() {} template -void onOrthogonalAllocation() +void onStateOrthogonalAllocation() { - smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation(); + smacc2::SmaccAsyncClientBehavior::onStateOrthogonalAllocation(); } void CbRosLaunch::onEntry() diff --git a/smacc2/src/smacc2/client_behaviors/cb_ros_launch_2.cpp b/smacc2/src/smacc2/client_behaviors/cb_ros_launch_2.cpp index 9fdb75492..efd98fde3 100644 --- a/smacc2/src/smacc2/client_behaviors/cb_ros_launch_2.cpp +++ b/smacc2/src/smacc2/client_behaviors/cb_ros_launch_2.cpp @@ -41,9 +41,9 @@ CbRosLaunch2::CbRosLaunch2(std::string package, std::string launchfile, RosLaunc CbRosLaunch2::~CbRosLaunch2() {} template -void onOrthogonalAllocation() +void onStateOrthogonalAllocation() { - smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation(); + smacc2::SmaccAsyncClientBehavior::onStateOrthogonalAllocation(); } void CbRosLaunch2::onEntry() diff --git a/smacc2/src/smacc2/client_behaviors/cb_ros_stop_2.cpp b/smacc2/src/smacc2/client_behaviors/cb_ros_stop_2.cpp index 429ebc813..e2780d57c 100644 --- a/smacc2/src/smacc2/client_behaviors/cb_ros_stop_2.cpp +++ b/smacc2/src/smacc2/client_behaviors/cb_ros_stop_2.cpp @@ -27,14 +27,14 @@ std::vector> CbRosStop2::detached_futures_; CbRosStop2::CbRosStop2() {} -CbRosStop2::CbRosStop2(pid_t launchPid) {} +CbRosStop2::CbRosStop2(pid_t /*launchPid*/) {} CbRosStop2::~CbRosStop2() {} template -void onOrthogonalAllocation() +void onStateOrthogonalAllocation() { - smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation(); + smacc2::SmaccAsyncClientBehavior::onStateOrthogonalAllocation(); } void CbRosStop2::onEntry() diff --git a/smacc2/src/smacc2/signal_detector.cpp b/smacc2/src/smacc2/signal_detector.cpp index bd1831fc1..7c4253123 100644 --- a/smacc2/src/smacc2/signal_detector.cpp +++ b/smacc2/src/smacc2/signal_detector.cpp @@ -401,7 +401,7 @@ void SignalDetector::pollingLoop() } } -void onSignalShutdown(int sig) +void onSignalShutdown(int /*sig*/) { // IMPORTANT: Signal handlers can only call async-signal-safe functions // We must NOT call complex C++ methods here (like terminateScheduler) diff --git a/smacc2_client_library/CLAUDE.md b/smacc2_client_library/CLAUDE.md index 126c2f213..21a1afe14 100644 --- a/smacc2_client_library/CLAUDE.md +++ b/smacc2_client_library/CLAUDE.md @@ -331,7 +331,7 @@ private: { public: template - void onOrthogonalAllocation() { + void onStateOrthogonalAllocation() { // Event posting lambda setup postEventFunction_ = [=]() { this->template postEvent>(); @@ -352,7 +352,7 @@ private: ``` Key Commonalities: - - Template-based onOrthogonalAllocation() for type-safe event posting + - Template-based onStateOrthogonalAllocation() for type-safe event posting file:///src/SMACC2/smacc2_client_library/cl_keyboard/include/cl_keyboard/client_behaviors/cb_default_keyboard_behavior.hpp#L32 - Event posting lambda functions stored as members file:///src/SMACC2/smacc2_client_library/cl_ros2_timer/include/cl_ros2_timer/client_behaviors/cb_timer_countdown_loop.hpp#L49 @@ -438,8 +438,8 @@ private: { public: template - void onOrthogonalAllocation() { - SmaccAsyncClientBehavior::onOrthogonalAllocation(); + void onStateOrthogonalAllocation() { + SmaccAsyncClientBehavior::onStateOrthogonalAllocation(); this->requiresClient(lifecycleClient_); // Connect to lifecycle transition signals @@ -602,7 +602,7 @@ private: ### Common Architectural Patterns Across All Types: 1. Base Classes: Most behaviors inherit from either SmaccClientBehavior(synchronous) or SmaccAsyncClientBehavior (asynchronous) - 2. Template-based Orthogonal Allocation: All behaviors use onOrthogonalAllocation() for type-safe integration + 2. Template-based Orthogonal Allocation: All behaviors use onStateOrthogonalAllocation() for type-safe integration 3. Client/Component Dependencies: Use requiresClient() or requiresComponent() pattern 4. Standard Lifecycle: onEntry()/onExit() methods for state management 5. Event Integration: Type-safe event posting via templates diff --git a/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/cl_moveit2z.hpp b/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/cl_moveit2z.hpp index 45f59eeae..2556861be 100644 --- a/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/cl_moveit2z.hpp +++ b/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/cl_moveit2z.hpp @@ -24,8 +24,8 @@ //#include #include -#include -#include +#include +#include #include #include @@ -112,7 +112,7 @@ class ClMoveit2z : public smacc2::ISmaccClient } template - void onOrthogonalAllocation() + void onStateOrthogonalAllocation() { postEventMotionExecutionSucceded_ = [=]() { diff --git a/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/client_behaviors/cb_circular_pivot_motion.hpp b/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/client_behaviors/cb_circular_pivot_motion.hpp index 801fecfd6..4149933c9 100644 --- a/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/client_behaviors/cb_circular_pivot_motion.hpp +++ b/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/client_behaviors/cb_circular_pivot_motion.hpp @@ -228,7 +228,7 @@ class CbCircularPivotMotion : public CbMoveEndEffectorTrajectory { // Use CpTfListener component for transform lookups CpTfListener * tfListener = nullptr; - this->requiresComponent(tfListener, false); // Optional component + this->requiresComponent(tfListener, smacc2::ComponentRequirement::SOFT); // Optional component tf2::Stamped endEffectorInPivotFrame; diff --git a/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/client_behaviors/cb_end_effector_rotate.hpp b/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/client_behaviors/cb_end_effector_rotate.hpp index 1fa44e470..33346a0a2 100644 --- a/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/client_behaviors/cb_end_effector_rotate.hpp +++ b/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/client_behaviors/cb_end_effector_rotate.hpp @@ -46,7 +46,7 @@ class CbEndEffectorRotate : public CbCircularPivotMotion { // Use CpTfListener component for transform lookups CpTfListener * tfListener = nullptr; - this->requiresComponent(tfListener, false); // Optional component + this->requiresComponent(tfListener, smacc2::ComponentRequirement::SOFT); // Optional component tf2::Stamped endEffectorInPivotFrame; diff --git a/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/client_behaviors/cb_move_end_effector.hpp b/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/client_behaviors/cb_move_end_effector.hpp index 6e24db970..c03908671 100644 --- a/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/client_behaviors/cb_move_end_effector.hpp +++ b/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/client_behaviors/cb_move_end_effector.hpp @@ -81,7 +81,8 @@ class CbMoveEndEffector : public smacc2::SmaccAsyncClientBehavior // Try to use CpMotionPlanner component (preferred) CpMotionPlanner * motionPlanner = nullptr; - this->requiresComponent(motionPlanner, false); // Optional component + this->requiresComponent( + motionPlanner, smacc2::ComponentRequirement::SOFT); // Optional component bool success = false; moveit::planning_interface::MoveGroupInterface::Plan computedMotionPlan; @@ -143,7 +144,8 @@ class CbMoveEndEffector : public smacc2::SmaccAsyncClientBehavior { // Try to use CpTrajectoryExecutor component (preferred) CpTrajectoryExecutor * trajectoryExecutor = nullptr; - this->requiresComponent(trajectoryExecutor, false); // Optional component + this->requiresComponent( + trajectoryExecutor, smacc2::ComponentRequirement::SOFT); // Optional component bool executionSuccess = false; diff --git a/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/client_behaviors/cb_move_end_effector_trajectory.hpp b/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/client_behaviors/cb_move_end_effector_trajectory.hpp index f87b22d8f..5f16ca5c2 100644 --- a/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/client_behaviors/cb_move_end_effector_trajectory.hpp +++ b/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/client_behaviors/cb_move_end_effector_trajectory.hpp @@ -79,11 +79,11 @@ class CbMoveEndEffectorTrajectory : public smacc2::SmaccAsyncClientBehavior } template - void onOrthogonalAllocation() + void onStateOrthogonalAllocation() { this->initializeROS(); - smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation(); + smacc2::SmaccAsyncClientBehavior::onStateOrthogonalAllocation(); postJointDiscontinuityEvent = [this](auto traj) { @@ -113,7 +113,8 @@ class CbMoveEndEffectorTrajectory : public smacc2::SmaccAsyncClientBehavior // Get optional components for visualization CpTrajectoryVisualizer * trajectoryVisualizer = nullptr; - this->requiresComponent(trajectoryVisualizer, false); // Optional component + this->requiresComponent( + trajectoryVisualizer, smacc2::ComponentRequirement::SOFT); // Optional component RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] Generating end effector trajectory"); @@ -205,7 +206,8 @@ class CbMoveEndEffectorTrajectory : public smacc2::SmaccAsyncClientBehavior { // Try to use CpJointSpaceTrajectoryPlanner component (preferred) CpJointSpaceTrajectoryPlanner * trajectoryPlanner = nullptr; - this->requiresComponent(trajectoryPlanner, false); // Optional component + this->requiresComponent( + trajectoryPlanner, smacc2::ComponentRequirement::SOFT); // Optional component if (trajectoryPlanner != nullptr) { @@ -460,7 +462,8 @@ class CbMoveEndEffectorTrajectory : public smacc2::SmaccAsyncClientBehavior // Try to use CpTrajectoryExecutor component (preferred) CpTrajectoryExecutor * trajectoryExecutor = nullptr; - this->requiresComponent(trajectoryExecutor, false); // Optional component + this->requiresComponent( + trajectoryExecutor, smacc2::ComponentRequirement::SOFT); // Optional component bool executionSuccess = false; @@ -585,7 +588,7 @@ class CbMoveEndEffectorTrajectory : public smacc2::SmaccAsyncClientBehavior { // Use CpTfListener component for transform lookups CpTfListener * tfListener = nullptr; - this->requiresComponent(tfListener, false); // Optional component + this->requiresComponent(tfListener, smacc2::ComponentRequirement::SOFT); // Optional component try { diff --git a/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/client_behaviors/cb_move_joints.hpp b/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/client_behaviors/cb_move_joints.hpp index d6fa9457d..e5a089cbc 100644 --- a/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/client_behaviors/cb_move_joints.hpp +++ b/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/client_behaviors/cb_move_joints.hpp @@ -101,7 +101,8 @@ class CbMoveJoints : public smacc2::SmaccAsyncClientBehavior // Try to use CpMotionPlanner component (preferred) CpMotionPlanner * motionPlanner = nullptr; - this->requiresComponent(motionPlanner, false); // Optional component + this->requiresComponent( + motionPlanner, smacc2::ComponentRequirement::SOFT); // Optional component bool success = false; moveit::planning_interface::MoveGroupInterface::Plan computedMotionPlan; @@ -158,7 +159,8 @@ class CbMoveJoints : public smacc2::SmaccAsyncClientBehavior { // Try to use CpTrajectoryExecutor component (preferred) CpTrajectoryExecutor * trajectoryExecutor = nullptr; - this->requiresComponent(trajectoryExecutor, false); // Optional component + this->requiresComponent( + trajectoryExecutor, smacc2::ComponentRequirement::SOFT); // Optional component bool executionSuccess = false; diff --git a/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/components/cp_motion_planner.hpp b/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/components/cp_motion_planner.hpp index eda62fa51..09af5e920 100644 --- a/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/components/cp_motion_planner.hpp +++ b/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/components/cp_motion_planner.hpp @@ -24,8 +24,8 @@ #include -#include #include +#include #include #include @@ -242,7 +242,7 @@ class CpMotionPlanner : public smacc2::ISmaccComponent */ inline PlanningResult planCartesianPath( const std::vector & waypoints, double maxStep = 0.01, - double jumpThreshold = 0.0, bool avoidCollisions = true) + double /*jumpThreshold*/ = 0.0, bool avoidCollisions = true) { PlanningResult result; @@ -269,8 +269,8 @@ class CpMotionPlanner : public smacc2::ISmaccComponent waypoints.size()); moveit_msgs::msg::RobotTrajectory trajectory; - double fractionAchieved = moveGroup->computeCartesianPath( - waypoints, maxStep, jumpThreshold, trajectory, avoidCollisions); + double fractionAchieved = + moveGroup->computeCartesianPath(waypoints, maxStep, trajectory, avoidCollisions); result.plan.trajectory = trajectory; diff --git a/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/components/cp_trajectory_executor.hpp b/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/components/cp_trajectory_executor.hpp index 42a644ab3..20681454d 100644 --- a/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/components/cp_trajectory_executor.hpp +++ b/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/components/cp_trajectory_executor.hpp @@ -25,7 +25,7 @@ #include #include -#include +#include #include #include @@ -87,7 +87,7 @@ class CpTrajectoryExecutor : public smacc2::ISmaccComponent this->requiresClient(moveit2zClient_); // CpTrajectoryHistory is optional but recommended - this->requiresComponent(trajectoryHistory_, false); + this->requiresComponent(trajectoryHistory_, smacc2::ComponentRequirement::SOFT); if (trajectoryHistory_) { diff --git a/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/components/cp_trajectory_visualizer.hpp b/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/components/cp_trajectory_visualizer.hpp index bd71f57a0..2185ff572 100644 --- a/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/components/cp_trajectory_visualizer.hpp +++ b/smacc2_client_library/cl_moveit2z/include/cl_moveit2z/components/cp_trajectory_visualizer.hpp @@ -49,7 +49,7 @@ class CpTrajectoryVisualizer : public smacc2::ISmaccComponent, public smacc2::IS * * @param publishRate Publishing rate (default: 10Hz) */ - CpTrajectoryVisualizer(double publishRate = 10.0) : publishRate_(publishRate), enabled_(false) {} + CpTrajectoryVisualizer(double publishRate = 10.0) : enabled_(false), publishRate_(publishRate) {} virtual ~CpTrajectoryVisualizer() = default; diff --git a/smacc2_client_library/cl_nav2z/include/cl_nav2z/client_behaviors/cb_nav2z_client_behavior_base.hpp b/smacc2_client_library/cl_nav2z/include/cl_nav2z/client_behaviors/cb_nav2z_client_behavior_base.hpp index 393c11043..4b7c25a70 100644 --- a/smacc2_client_library/cl_nav2z/include/cl_nav2z/client_behaviors/cb_nav2z_client_behavior_base.hpp +++ b/smacc2_client_library/cl_nav2z/include/cl_nav2z/client_behaviors/cb_nav2z_client_behavior_base.hpp @@ -43,16 +43,6 @@ class CbNav2ZClientBehaviorBase : public smacc2::SmaccAsyncClientBehavior smacc2::SmaccAsyncClientBehavior::onStateOrthogonalAllocation(); } - // LEGACY COMPATIBILITY: For third-party code that still calls the old method - template - [[deprecated( - "Use onStateOrthogonalAllocation instead. This method exists only for third-party " - "compatibility.")]] void - onOrthogonalAllocation() - { - onStateOrthogonalAllocation(); - } - protected: // NEW: Component-based API - uses components directly void sendGoal(nav2_msgs::action::NavigateToPose::Goal & goal) diff --git a/smacc2_client_library/cl_nav2z/src/cl_nav2z/client_behaviors/cb_track_path_odometry.cpp b/smacc2_client_library/cl_nav2z/src/cl_nav2z/client_behaviors/cb_track_path_odometry.cpp index 4ae5e6a81..d4aa0d9dd 100644 --- a/smacc2_client_library/cl_nav2z/src/cl_nav2z/client_behaviors/cb_track_path_odometry.cpp +++ b/smacc2_client_library/cl_nav2z/src/cl_nav2z/client_behaviors/cb_track_path_odometry.cpp @@ -18,8 +18,6 @@ * ******************************************************************************************************************/ -#pragma once - #include #include #include diff --git a/smacc2_client_library/cl_nav2z/src/cl_nav2z/client_behaviors/cb_track_path_slam.cpp b/smacc2_client_library/cl_nav2z/src/cl_nav2z/client_behaviors/cb_track_path_slam.cpp index 3631e36c6..c30449cd4 100644 --- a/smacc2_client_library/cl_nav2z/src/cl_nav2z/client_behaviors/cb_track_path_slam.cpp +++ b/smacc2_client_library/cl_nav2z/src/cl_nav2z/client_behaviors/cb_track_path_slam.cpp @@ -18,8 +18,6 @@ * ******************************************************************************************************************/ -#pragma once - #include #include #include diff --git a/smacc2_client_library/http_client/include/http_client/client_behaviors/cb_http_request.hpp b/smacc2_client_library/http_client/include/http_client/client_behaviors/cb_http_request.hpp index 39fda7bf8..baf5f6d88 100644 --- a/smacc2_client_library/http_client/include/http_client/client_behaviors/cb_http_request.hpp +++ b/smacc2_client_library/http_client/include/http_client/client_behaviors/cb_http_request.hpp @@ -35,14 +35,6 @@ class CbHttpRequestBase : public smacc2::SmaccClientBehavior { } - template - [[deprecated( - "Use onStateOrthogonalAllocation instead. onOrthogonalAllocation will be removed in future " - "versions.")]] void - onOrthogonalAllocation() - { - } - template void onStateOrthogonalAllocation() { diff --git a/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors/cb_activate.hpp b/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors/cb_activate.hpp index 4df280878..b043e6bf8 100644 --- a/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors/cb_activate.hpp +++ b/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors/cb_activate.hpp @@ -32,9 +32,9 @@ class CbActivate : public smacc2::SmaccAsyncClientBehavior virtual ~CbActivate() {} template - void onOrthogonalAllocation() + void onStateOrthogonalAllocation() { - smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation(); + smacc2::SmaccAsyncClientBehavior::onStateOrthogonalAllocation(); this->requiresClient(this->lifecycleNodeClient_); diff --git a/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors/cb_cleanup.hpp b/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors/cb_cleanup.hpp index 07e6737d6..e420a0494 100644 --- a/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors/cb_cleanup.hpp +++ b/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors/cb_cleanup.hpp @@ -32,9 +32,9 @@ class CbCleanup : public smacc2::SmaccAsyncClientBehavior virtual ~CbCleanup() {} template - void onOrthogonalAllocation() + void onStateOrthogonalAllocation() { - smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation(); + smacc2::SmaccAsyncClientBehavior::onStateOrthogonalAllocation(); this->requiresClient(this->lifecycleNodeClient_); diff --git a/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors/cb_configure.hpp b/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors/cb_configure.hpp index 6d061a79f..2c5e3be48 100644 --- a/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors/cb_configure.hpp +++ b/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors/cb_configure.hpp @@ -32,9 +32,9 @@ class CbConfigure : public smacc2::SmaccAsyncClientBehavior virtual ~CbConfigure() {} template - void onOrthogonalAllocation() + void onStateOrthogonalAllocation() { - smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation(); + smacc2::SmaccAsyncClientBehavior::onStateOrthogonalAllocation(); this->requiresClient(this->lifecycleNodeClient_); diff --git a/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors/cb_deactivate.hpp b/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors/cb_deactivate.hpp index de284e097..edc1569a8 100644 --- a/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors/cb_deactivate.hpp +++ b/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors/cb_deactivate.hpp @@ -32,9 +32,9 @@ class CbDeactivate : public smacc2::SmaccAsyncClientBehavior virtual ~CbDeactivate() {} template - void onOrthogonalAllocation() + void onStateOrthogonalAllocation() { - smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation(); + smacc2::SmaccAsyncClientBehavior::onStateOrthogonalAllocation(); this->requiresClient(this->lifecycleNodeClient_); diff --git a/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors/cb_deactivate_on_exit.hpp b/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors/cb_deactivate_on_exit.hpp index 48a939371..3fa291f99 100644 --- a/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors/cb_deactivate_on_exit.hpp +++ b/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors/cb_deactivate_on_exit.hpp @@ -32,9 +32,9 @@ class CbDeactivateOnExit : public smacc2::SmaccAsyncClientBehavior virtual ~CbDeactivateOnExit() {} template - void onOrthogonalAllocation() + void onStateOrthogonalAllocation() { - smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation(); + smacc2::SmaccAsyncClientBehavior::onStateOrthogonalAllocation(); this->requiresClient(this->lifecycleNodeClient_); diff --git a/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors/cb_destroy.hpp b/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors/cb_destroy.hpp index 2b7d27f20..91a8bc973 100644 --- a/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors/cb_destroy.hpp +++ b/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors/cb_destroy.hpp @@ -32,9 +32,9 @@ class CbDestroy : public smacc2::SmaccAsyncClientBehavior virtual ~CbDestroy() {} template - void onOrthogonalAllocation() + void onStateOrthogonalAllocation() { - smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation(); + smacc2::SmaccAsyncClientBehavior::onStateOrthogonalAllocation(); this->requiresClient(this->lifecycleNodeClient_); diff --git a/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors/cb_shutdown.hpp b/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors/cb_shutdown.hpp index d706e20f1..ea765d04b 100644 --- a/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors/cb_shutdown.hpp +++ b/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/client_behaviors/cb_shutdown.hpp @@ -32,9 +32,9 @@ class CbShutdown : public smacc2::SmaccAsyncClientBehavior virtual ~CbShutdown() {} template - void onOrthogonalAllocation() + void onStateOrthogonalAllocation() { - smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation(); + smacc2::SmaccAsyncClientBehavior::onStateOrthogonalAllocation(); this->requiresClient(this->lifecycleNodeClient_); diff --git a/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/lifecyclenode_client.hpp b/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/lifecyclenode_client.hpp index 667bf52f1..0330d2ac0 100644 --- a/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/lifecyclenode_client.hpp +++ b/smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/lifecyclenode_client.hpp @@ -266,7 +266,7 @@ class ClLifecycleNode : public smacc2::ISmaccClient boost::signals2::signal onTransitionOnErrorError_; template - void onOrthogonalAllocation() + void onStateOrthogonalAllocation() { this->postOnTransitionCreate_ = [=]() { diff --git a/smacc2_dev_tools/sandbox/cp_ros_control_interface.h.disabled b/smacc2_dev_tools/sandbox/cp_ros_control_interface.h.disabled index ff6565d45..3a0f38764 100644 --- a/smacc2_dev_tools/sandbox/cp_ros_control_interface.h.disabled +++ b/smacc2_dev_tools/sandbox/cp_ros_control_interface.h.disabled @@ -29,7 +29,7 @@ public: virtual void onInitialize() override; // template - // void onOrthogonalAllocation() {} + // void onStateOrthogonalAllocation() {} std::vector listControllerTypes(); diff --git a/smacc2_sm_reference_library/sm_advanced_recovery_1/launch/sm_advanced_recovery_1.py b/smacc2_sm_reference_library/sm_advanced_recovery_1/launch/sm_advanced_recovery_1.py new file mode 100644 index 000000000..213058c2f --- /dev/null +++ b/smacc2_sm_reference_library/sm_advanced_recovery_1/launch/sm_advanced_recovery_1.py @@ -0,0 +1,91 @@ +# 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. + +import os +from datetime import datetime +from launch import LaunchDescription +from launch_ros.actions import Node + + +def setup_log_directory(): + """ + Creates timestamped log directory with error handling. + Returns: (log_dir_path, timestamp) tuple + """ + timestamp = datetime.now().strftime("%Y-%m-%d-%H-%M-%S") + + # Primary log directory location + log_dir = os.path.join( + os.path.expanduser("~"), ".ros", "log", f"{timestamp}-sm_advanced_recovery_1" + ) + + try: + os.makedirs(log_dir, mode=0o755, exist_ok=True) + print(f"[Launch] Log directory created: {log_dir}") + return log_dir, timestamp + except PermissionError as e: + # Fallback to /tmp if ~/.ros is not writable + fallback_dir = os.path.join("/tmp", "sm_advanced_recovery_1_logs", timestamp) + print(f"[Launch] WARNING: Cannot create log directory at {log_dir}") + print(f"[Launch] Permission denied: {e}") + print(f"[Launch] Using fallback directory: {fallback_dir}") + try: + os.makedirs(fallback_dir, mode=0o755, exist_ok=True) + return fallback_dir, timestamp + except Exception as fallback_error: + print(f"[Launch] ERROR: Cannot create fallback directory: {fallback_error}") + print(f"[Launch] Logs will only be displayed in konsole terminals") + return None, timestamp + except OSError as e: + print(f"[Launch] ERROR: Failed to create log directory: {e}") + print(f"[Launch] Logs will only be displayed in konsole terminals") + return None, timestamp + + +def generate_launch_description(): + # Setup logging directory + log_dir, timestamp = setup_log_directory() + + # Construct logging prefix for state machine node + if log_dir: + state_machine_log = os.path.join(log_dir, f"sm_advanced_recovery_1_node_{timestamp}.log") + state_machine_prefix = f"konsole --hold -p tabtitle='SM Advanced Recovery 1' -e bash -c 'RCUTILS_COLORIZED_OUTPUT=1 \"$@\" 2>&1 | tee {state_machine_log}; exec bash' -- " + else: + state_machine_prefix = "konsole --hold -p tabtitle='SM Advanced Recovery 1' -e" + + # Construct logging prefix for keyboard client node + if log_dir: + keyboard_log = os.path.join(log_dir, f"keyboard_server_node_{timestamp}.log") + keyboard_prefix = f"konsole --hold -p tabtitle='Keyboard Client' -e bash -c 'RCUTILS_COLORIZED_OUTPUT=1 \"$@\" 2>&1 | tee {keyboard_log}; exec bash' -- " + else: + keyboard_prefix = "konsole --hold -p tabtitle='Keyboard Client' -e" + + return LaunchDescription( + [ + Node( + package="sm_advanced_recovery_1", + executable="sm_advanced_recovery_1_node", + name="sm_advanced_recovery_1", + output="screen", + prefix=state_machine_prefix, + ), + Node( + package="cl_keyboard", + executable="keyboard_server_node.py", + name="keyboard_server_node", + output="screen", + prefix=keyboard_prefix, + ), + ] + ) diff --git a/smacc2_sm_reference_library/sm_atomic_http/include/sm_atomic_http/clients/client_behaviors/cb_http_request.hpp b/smacc2_sm_reference_library/sm_atomic_http/include/sm_atomic_http/clients/client_behaviors/cb_http_request.hpp index d6161c35e..436f616a6 100644 --- a/smacc2_sm_reference_library/sm_atomic_http/include/sm_atomic_http/clients/client_behaviors/cb_http_request.hpp +++ b/smacc2_sm_reference_library/sm_atomic_http/include/sm_atomic_http/clients/client_behaviors/cb_http_request.hpp @@ -36,7 +36,7 @@ class CbHttpRequest : public cl_http::CbHttpGetRequest { public: template - void onOrthogonalAllocation() + void onStateOrthogonalAllocation() { triggerTranstition = [this]() { diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/CMakeLists.txt b/smacc2_sm_reference_library/sm_multi_stage_1/CMakeLists.txt index 89c6827f0..fe19998a7 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/CMakeLists.txt +++ b/smacc2_sm_reference_library/sm_multi_stage_1/CMakeLists.txt @@ -15,7 +15,6 @@ find_package(ament_cmake REQUIRED) find_package(rclcpp) find_package(smacc2) find_package(std_msgs) -find_package(multirole_sensor_client) find_package(sr_all_events_go) find_package(cl_ros2_timer) find_package(cl_keyboard) @@ -25,7 +24,6 @@ set(dependencies rclcpp smacc2 std_msgs - multirole_sensor_client sr_all_events_go cl_ros2_timer cl_keyboard @@ -65,5 +63,8 @@ install(TARGETS ${PROJECT_NAME}_node install( DIRECTORY launch/ - DESTINATION share/${PROJECT_NAME} + DESTINATION share/${PROJECT_NAME}/launch + FILES_MATCHING + PATTERN "*.launch" + PATTERN "*.launch.py" ) diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/orthogonals/or_subscriber.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/orthogonals/or_subscriber.hpp deleted file mode 100644 index 10921ba51..000000000 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/orthogonals/or_subscriber.hpp +++ /dev/null @@ -1,32 +0,0 @@ -// 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. - -#pragma once - -#include -#include - -namespace sm_multi_stage_1 -{ -using namespace sm_multi_stage_1::cl_subscriber; - -class OrSubscriber : public smacc2::Orthogonal -{ -public: - virtual void onInitialize() override - { - auto subscriber_client = this->createClient(); - } -}; -} // namespace sm_multi_stage_1 diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/sm_multi_stage_1.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/sm_multi_stage_1.hpp index 0fb3f3922..acf51b3ec 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/sm_multi_stage_1.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/sm_multi_stage_1.hpp @@ -23,17 +23,12 @@ // ORTHOGONALS #include -#include #include using namespace cl_ros2_timer; using namespace cl_keyboard; -using namespace sm_multi_stage_1::cl_subscriber; //CLIENT BEHAVIORS -#include -#include - #include //#include @@ -305,7 +300,6 @@ struct SmMultiStage1 : public smacc2::SmaccStateMachineBasecreateOrthogonal(); this->createOrthogonal(); - this->createOrthogonal(); } }; } // namespace sm_multi_stage_1 diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_1.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_1.hpp index a51ef9e90..72d363d41 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_1.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_1.hpp @@ -31,8 +31,7 @@ struct StiMode1SequenceAStep1 : smacc2::SmaccState, StiMode1SequenceAStep2, TIMEOUT>, - Transition, StiMode1SequenceAStep2, NEXT>, - Transition, StiMode1SequenceALoop, PREVIOUS> + Transition, StiMode1SequenceAStep2, NEXT> // Transition, Mode1StObserve, RETURN>, // Transition, MsRecovery1, ABORT> @@ -43,7 +42,7 @@ struct StiMode1SequenceAStep1 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_2.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_2.hpp index 4caba6f78..640dde3b8 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_2.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_2.hpp @@ -31,7 +31,6 @@ struct StiMode1SequenceAStep2 : smacc2::SmaccState, StiMode1SequenceAStep3, TIMEOUT>, - Transition, StiMode1SequenceAStep1, PREVIOUS>, Transition, StiMode1SequenceAStep3, NEXT> // Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode1SequenceAStep2 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_3.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_3.hpp index d590ac181..60c6e9de5 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_3.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_3.hpp @@ -31,7 +31,6 @@ struct StiMode1SequenceAStep3 : smacc2::SmaccState, StiMode1SequenceAStep4, TIMEOUT>, - Transition, StiMode1SequenceAStep2, PREVIOUS>, Transition, StiMode1SequenceAStep4, NEXT> // Transition, Mode1StObserve, RETURN>, @@ -42,7 +41,7 @@ struct StiMode1SequenceAStep3 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_4.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_4.hpp index da177a8dc..24945b12a 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_4.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_4.hpp @@ -31,7 +31,6 @@ struct StiMode1SequenceAStep4 : smacc2::SmaccState, StiMode1SequenceAStep5, TIMEOUT>, - Transition, StiMode1SequenceAStep3, PREVIOUS>, Transition, StiMode1SequenceAStep5, NEXT> // Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode1SequenceAStep4 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_5.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_5.hpp index 4c602bdc9..e87c64e10 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_5.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_5.hpp @@ -31,7 +31,6 @@ struct StiMode1SequenceAStep5 : smacc2::SmaccState, StiMode1SequenceAStep6, TIMEOUT>, - Transition, StiMode1SequenceAStep4, PREVIOUS>, Transition, StiMode1SequenceAStep6, NEXT> // Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode1SequenceAStep5 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_6.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_6.hpp index 97fb6c5ca..566ec7705 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_6.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_6.hpp @@ -31,7 +31,6 @@ struct StiMode1SequenceAStep6 : smacc2::SmaccState, StiMode1SequenceAStep7, TIMEOUT>, - Transition, StiMode1SequenceAStep5, PREVIOUS>, Transition, StiMode1SequenceAStep7, NEXT> // Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode1SequenceAStep6 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_7.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_7.hpp index 562b74884..8c8af41d4 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_7.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_7.hpp @@ -31,7 +31,6 @@ struct StiMode1SequenceAStep7 : smacc2::SmaccState, StiMode1SequenceAStep8, TIMEOUT>, - Transition, StiMode1SequenceAStep6, PREVIOUS>, Transition, StiMode1SequenceAStep8, NEXT> // Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode1SequenceAStep7 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_8.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_8.hpp index e3583add7..62c024210 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_8.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_8.hpp @@ -31,7 +31,6 @@ struct StiMode1SequenceAStep8 : smacc2::SmaccState, StiMode1SequenceAStep9, TIMEOUT>, - Transition, StiMode1SequenceAStep7, PREVIOUS>, Transition, StiMode1SequenceAStep9, NEXT> // Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode1SequenceAStep8 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_9.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_9.hpp index 4eb641bc2..2327677d2 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_9.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_9.hpp @@ -31,7 +31,6 @@ struct StiMode1SequenceAStep9 : smacc2::SmaccState, StiMode1SequenceALoop, TIMEOUT>, - Transition, StiMode1SequenceAStep8, PREVIOUS>, Transition, StiMode1SequenceALoop, NEXT> // Transition, MsMode2, SUCCESS>, @@ -44,7 +43,7 @@ struct StiMode1SequenceAStep9 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_1.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_1.hpp index a8bacfb02..2c1c0aacb 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_1.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_1.hpp @@ -31,8 +31,7 @@ struct StiMode1SequenceBStep1 : smacc2::SmaccState, StiMode1SequenceBStep2, TIMEOUT>, - Transition, StiMode1SequenceBStep2, NEXT>, - Transition, StiMode1SequenceBLoop, PREVIOUS> + Transition, StiMode1SequenceBStep2, NEXT> // Transition, Mode1StObserve, RETURN>, // Transition, MsRecovery1, ABORT> @@ -43,7 +42,7 @@ struct StiMode1SequenceBStep1 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_2.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_2.hpp index abfab0768..f9875318d 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_2.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_2.hpp @@ -31,7 +31,6 @@ struct StiMode1SequenceBStep2 : smacc2::SmaccState, StiMode1SequenceBStep3, TIMEOUT>, - Transition, StiMode1SequenceBStep1, PREVIOUS>, Transition, StiMode1SequenceBStep3, NEXT> // Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode1SequenceBStep2 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_3.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_3.hpp index 6724d0d49..64f6f2883 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_3.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_3.hpp @@ -31,7 +31,6 @@ struct StiMode1SequenceBStep3 : smacc2::SmaccState, StiMode1SequenceBStep4, TIMEOUT>, - Transition, StiMode1SequenceBStep2, PREVIOUS>, Transition, StiMode1SequenceBStep4, NEXT> // Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode1SequenceBStep3 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_4.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_4.hpp index 025ccead5..c541f845c 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_4.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_4.hpp @@ -31,7 +31,6 @@ struct StiMode1SequenceBStep4 : smacc2::SmaccState, StiMode1SequenceBStep5, TIMEOUT>, - Transition, StiMode1SequenceBStep3, PREVIOUS>, Transition, StiMode1SequenceBStep5, NEXT> // Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode1SequenceBStep4 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_5.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_5.hpp index d537ecdd0..dad8250f4 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_5.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_5.hpp @@ -31,7 +31,6 @@ struct StiMode1SequenceBStep5 : smacc2::SmaccState, StiMode1SequenceBStep6, TIMEOUT>, - Transition, StiMode1SequenceBStep4, PREVIOUS>, Transition, StiMode1SequenceBStep6, NEXT> // Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode1SequenceBStep5 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_6.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_6.hpp index f33870166..acbb18f94 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_6.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_6.hpp @@ -31,7 +31,6 @@ struct StiMode1SequenceBStep6 : smacc2::SmaccState, StiMode1SequenceBStep7, TIMEOUT>, - Transition, StiMode1SequenceBStep5, PREVIOUS>, Transition, StiMode1SequenceBStep7, NEXT> // Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode1SequenceBStep6 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_7.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_7.hpp index c084d9678..bcf6e2545 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_7.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_7.hpp @@ -31,7 +31,6 @@ struct StiMode1SequenceBStep7 : smacc2::SmaccState, StiMode1SequenceBStep8, SUCCESS>, - Transition, StiMode1SequenceBStep6, PREVIOUS>, Transition, StiMode1SequenceBStep9, NEXT> // Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode1SequenceBStep7 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_8.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_8.hpp index ec89ddc7d..967fce931 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_8.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_8.hpp @@ -31,7 +31,6 @@ struct StiMode1SequenceBStep8 : smacc2::SmaccState, StiMode1SequenceBStep9, TIMEOUT>, - Transition, StiMode1SequenceBStep7, PREVIOUS>, Transition, StiMode1SequenceBStep9, NEXT> // Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode1SequenceBStep8 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_9.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_9.hpp index 5ba8016c9..08ab4cb94 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_9.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_9.hpp @@ -31,7 +31,6 @@ struct StiMode1SequenceBStep9 : smacc2::SmaccState, StiMode1SequenceBLoop, TIMEOUT>, - Transition, StiMode1SequenceBStep8, PREVIOUS>, Transition, StiMode1SequenceBLoop, NEXT> // Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode1SequenceBStep9 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_st_observe.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_st_observe.hpp index c66d4d38f..c31d59dcf 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_st_observe.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_1_st_observe.hpp @@ -37,7 +37,7 @@ struct Mode1StObserve : smacc2::SmaccState static void staticConfigure() { configure_orthogonal(10); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_1.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_1.hpp index 8f133d554..cf37202f6 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_1.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_1.hpp @@ -32,7 +32,6 @@ struct StiMode2SequenceAStep1 : smacc2::SmaccState, StiMode2SequenceAStep2, SUCCESS>, Transition, StiMode2SequenceAStep2, NEXT> - //Transition, StiMode2SequenceALoop, PREVIOUS>, //Transition, Mode2StObserve, RETURN>, //Transition, MsRecovery2, ABORT> @@ -43,7 +42,7 @@ struct StiMode2SequenceAStep1 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_2.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_2.hpp index dafb4ab8a..016edae76 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_2.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_2.hpp @@ -31,7 +31,6 @@ struct StiMode2SequenceAStep2 : smacc2::SmaccState, StiMode2SequenceAStep3, TIMEOUT>, - Transition, StiMode2SequenceAStep1, PREVIOUS>, Transition, StiMode2SequenceAStep3, NEXT> //Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode2SequenceAStep2 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_3.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_3.hpp index a3e793ed7..dc498091c 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_3.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_3.hpp @@ -31,7 +31,6 @@ struct StiMode2SequenceAStep3 : smacc2::SmaccState, StiMode2SequenceAStep4, SUCCESS>, - Transition, StiMode2SequenceAStep2, PREVIOUS>, Transition, StiMode2SequenceAStep4, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode2SequenceAStep3 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_4.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_4.hpp index 944f4df9a..ff370db13 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_4.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_4.hpp @@ -31,7 +31,6 @@ struct StiMode2SequenceAStep4 : smacc2::SmaccState, StiMode2SequenceAStep5, SUCCESS>, - Transition, StiMode2SequenceAStep3, PREVIOUS>, Transition, StiMode2SequenceAStep5, NEXT> // Transition, Mode2StObserve, RETURN>, @@ -44,7 +43,7 @@ struct StiMode2SequenceAStep4 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_5.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_5.hpp index 2e1ad4756..fce7c7c2d 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_5.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_5.hpp @@ -31,7 +31,6 @@ struct StiMode2SequenceAStep5 : smacc2::SmaccState, StiMode2SequenceAStep7, SUCCESS>, - Transition, StiMode2SequenceAStep4, PREVIOUS>, Transition, StiMode2SequenceAStep6, NEXT> //Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode2SequenceAStep5 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_6.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_6.hpp index 0322b0b7f..a35c29c67 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_6.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_6.hpp @@ -31,7 +31,6 @@ struct StiMode2SequenceAStep6 : smacc2::SmaccState, StiMode2SequenceAStep8, TIMEOUT>, - // Transition, StiMode2SequenceAStep52, PREVIOUS>, Transition, StiMode2SequenceAStep8, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode2SequenceAStep6 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_7.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_7.hpp index 0e51a3d15..ca91f4477 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_7.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_7.hpp @@ -31,7 +31,6 @@ struct StiMode2SequenceAStep7 : smacc2::SmaccState, StiMode2SequenceAStep8, TIMEOUT>, - // Transition, StiMode2SequenceAStep6, PREVIOUS>, Transition, StiMode2SequenceAStep8, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode2SequenceAStep7 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_8.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_8.hpp index 0958ad471..52efcb1f6 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_8.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_8.hpp @@ -31,7 +31,6 @@ struct StiMode2SequenceAStep8 : smacc2::SmaccState, StiMode2SequenceAStep9, TIMEOUT>, - Transition, StiMode2SequenceAStep7, PREVIOUS>, Transition, StiMode2SequenceAStep9, NEXT> //Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode2SequenceAStep8 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_9.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_9.hpp index 8f2dd2ac0..659539ce8 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_9.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_9.hpp @@ -31,7 +31,6 @@ struct StiMode2SequenceAStep9 : smacc2::SmaccState, StiMode2SequenceALoop, TIMEOUT>, - Transition, StiMode2SequenceAStep8, PREVIOUS>, Transition, StiMode2SequenceALoop, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode2SequenceAStep9 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_1.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_1.hpp index 3c72ba946..ec0c5ee2c 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_1.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_1.hpp @@ -31,8 +31,7 @@ struct StiMode2SequenceBStep1 : smacc2::SmaccState, StiMode2SequenceBStep2, SUCCESS>, - Transition, StiMode2SequenceBStep3, NEXT>, - Transition, StiMode2SequenceBLoop, PREVIOUS> + Transition, StiMode2SequenceBStep3, NEXT> //Transition, Mode2StObserve, RETURN>, //Transition, MsRecovery2, ABORT> @@ -43,7 +42,7 @@ struct StiMode2SequenceBStep1 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_2.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_2.hpp index 3fa573fb1..eaff32d16 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_2.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_2.hpp @@ -31,7 +31,6 @@ struct StiMode2SequenceBStep2 : smacc2::SmaccState, StiMode2SequenceBStep3, TIMEOUT>, - Transition, StiMode2SequenceBStep1, PREVIOUS>, Transition, StiMode2SequenceBStep3, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode2SequenceBStep2 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_3.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_3.hpp index 26171bb2b..7ce9551a6 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_3.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_3.hpp @@ -31,7 +31,6 @@ struct StiMode2SequenceBStep3 : smacc2::SmaccState, StiMode2SequenceBStep4, TIMEOUT>, - Transition, StiMode2SequenceBStep2, PREVIOUS>, Transition, StiMode2SequenceBStep4, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode2SequenceBStep3 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_4.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_4.hpp index 3d0e11c8c..b15031caa 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_4.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_4.hpp @@ -31,7 +31,6 @@ struct StiMode2SequenceBStep4 : smacc2::SmaccState, StiMode2SequenceBStep5, TIMEOUT>, - Transition, StiMode2SequenceBStep3, PREVIOUS>, Transition, StiMode2SequenceBStep5, NEXT> //ransition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode2SequenceBStep4 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_5.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_5.hpp index 7729cff87..b63256481 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_5.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_5.hpp @@ -31,7 +31,6 @@ struct StiMode2SequenceBStep5 : smacc2::SmaccState, StiMode2SequenceBStep6, SUCCESS>, - Transition, StiMode2SequenceBStep4, PREVIOUS>, Transition, StiMode2SequenceBStep6, NEXT>, Transition, StiMode2SequenceBStep8, SUCCESS> @@ -44,7 +43,7 @@ struct StiMode2SequenceBStep5 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_6.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_6.hpp index 1c6567093..a7954a82f 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_6.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_6.hpp @@ -31,7 +31,6 @@ struct StiMode2SequenceBStep6 : smacc2::SmaccState, StiMode2SequenceBStep7, TIMEOUT>, - Transition, StiMode2SequenceBStep5, PREVIOUS>, Transition, StiMode2SequenceBStep7, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode2SequenceBStep6 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_7.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_7.hpp index aded85456..d51a19c4f 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_7.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_7.hpp @@ -31,7 +31,6 @@ struct StiMode2SequenceBStep7 : smacc2::SmaccState, StiMode2SequenceBStep8, TIMEOUT>, - Transition, StiMode2SequenceBStep6, PREVIOUS>, Transition, StiMode2SequenceBStep8, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode2SequenceBStep7 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_8.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_8.hpp index 96d728b90..f2fc3b90f 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_8.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_8.hpp @@ -31,7 +31,6 @@ struct StiMode2SequenceBStep8 : smacc2::SmaccState, StiMode2SequenceBStep9, TIMEOUT>, - Transition, StiMode2SequenceBStep7, PREVIOUS>, Transition, StiMode2SequenceBStep9, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode2SequenceBStep8 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_9.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_9.hpp index 3b4daa532..9214daa6f 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_9.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_9.hpp @@ -31,7 +31,6 @@ struct StiMode2SequenceBStep9 : smacc2::SmaccState, StiMode2SequenceBLoop, TIMEOUT>, - Transition, StiMode2SequenceBStep8, PREVIOUS>, Transition, StiMode2SequenceBLoop, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode2SequenceBStep9 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_st_observe.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_st_observe.hpp index 385e59a62..fd7ce8168 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_st_observe.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_2_st_observe.hpp @@ -40,7 +40,7 @@ struct Mode2StObserve : smacc2::SmaccState static void staticConfigure() { configure_orthogonal(10); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_1.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_1.hpp index f0ad3029b..075e98b02 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_1.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_1.hpp @@ -32,7 +32,6 @@ struct StiMode3SequenceAStep1 : smacc2::SmaccState, StiMode3SequenceAStep2, SUCCESS>, Transition, StiMode3SequenceAStep3, NEXT> - //Transition, StiMode2SequenceALoop, PREVIOUS>, //Transition, Mode2StObserve, RETURN>, //Transition, MsRecovery2, ABORT> @@ -43,7 +42,7 @@ struct StiMode3SequenceAStep1 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_2.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_2.hpp index cbd7a4030..83319d45d 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_2.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_2.hpp @@ -31,7 +31,6 @@ struct StiMode3SequenceAStep2 : smacc2::SmaccState, StiMode3SequenceAStep3, TIMEOUT>, - Transition, StiMode3SequenceAStep1, PREVIOUS>, Transition, StiMode3SequenceAStep3, NEXT> //Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode3SequenceAStep2 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_3.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_3.hpp index b19a52d1e..9bf243563 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_3.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_3.hpp @@ -31,7 +31,6 @@ struct StiMode3SequenceAStep3 : smacc2::SmaccState, StiMode3SequenceAStep4, TIMEOUT>, - Transition, StiMode3SequenceAStep2, PREVIOUS>, Transition, StiMode3SequenceAStep4, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -42,7 +41,7 @@ struct StiMode3SequenceAStep3 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_4.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_4.hpp index 416ff0b05..c445b027b 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_4.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_4.hpp @@ -31,7 +31,6 @@ struct StiMode3SequenceAStep4 : smacc2::SmaccState, StiMode3SequenceAStep5, TIMEOUT>, - Transition, StiMode3SequenceAStep3, PREVIOUS>, Transition, StiMode3SequenceAStep5, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode3SequenceAStep4 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_5.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_5.hpp index 54896ede0..8f09369c6 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_5.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_5.hpp @@ -31,7 +31,6 @@ struct StiMode3SequenceAStep5 : smacc2::SmaccState, StiMode3SequenceAStep6, TIMEOUT>, - Transition, StiMode3SequenceAStep4, PREVIOUS>, Transition, StiMode3SequenceAStep6, NEXT> //Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode3SequenceAStep5 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_6.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_6.hpp index 6a56bd950..17244fc11 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_6.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_6.hpp @@ -31,7 +31,6 @@ struct StiMode3SequenceAStep6 : smacc2::SmaccState, StiMode3SequenceAStep7, SUCCESS>, - Transition, StiMode3SequenceAStep8, PREVIOUS>, Transition, StiMode3SequenceAStep7, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode3SequenceAStep6 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_7.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_7.hpp index 52f011324..f0159e154 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_7.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_7.hpp @@ -31,7 +31,6 @@ struct StiMode3SequenceAStep7 : smacc2::SmaccState, StiMode3SequenceAStep8, TIMEOUT>, - Transition, StiMode3SequenceAStep6, PREVIOUS>, Transition, StiMode3SequenceAStep8, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode3SequenceAStep7 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_8.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_8.hpp index 832633c41..f866a2e3d 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_8.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_8.hpp @@ -31,7 +31,6 @@ struct StiMode3SequenceAStep8 : smacc2::SmaccState, StiMode3SequenceAStep9, TIMEOUT>, - Transition, StiMode3SequenceAStep7, PREVIOUS>, Transition, StiMode3SequenceAStep9, NEXT> //Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode3SequenceAStep8 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_9.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_9.hpp index 7aa85a035..fbabd68c9 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_9.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_9.hpp @@ -31,7 +31,6 @@ struct StiMode3SequenceAStep9 : smacc2::SmaccState, StiMode3SequenceALoop, TIMEOUT>, - Transition, StiMode3SequenceAStep8, PREVIOUS>, Transition, StiMode3SequenceALoop, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode3SequenceAStep9 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_1.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_1.hpp index 7353e21ee..e098de0ec 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_1.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_1.hpp @@ -31,8 +31,7 @@ struct StiMode3SequenceBStep1 : smacc2::SmaccState, StiMode3SequenceBStep2, TIMEOUT>, - Transition, StiMode3SequenceBStep2, NEXT>, - Transition, StiMode3SequenceBLoop, PREVIOUS> + Transition, StiMode3SequenceBStep2, NEXT> //Transition, Mode2StObserve, RETURN>, //Transition, MsRecovery2, ABORT> @@ -43,7 +42,7 @@ struct StiMode3SequenceBStep1 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_2.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_2.hpp index 81863ff92..4693a7d53 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_2.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_2.hpp @@ -31,7 +31,6 @@ struct StiMode3SequenceBStep2 : smacc2::SmaccState, StiMode3SequenceBStep3, TIMEOUT>, - Transition, StiMode3SequenceBStep1, PREVIOUS>, Transition, StiMode3SequenceBStep3, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode3SequenceBStep2 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_3.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_3.hpp index fe188336b..20b28a413 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_3.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_3.hpp @@ -30,7 +30,6 @@ struct StiMode3SequenceBStep3 : smacc2::SmaccState, StiMode3SequenceBStep4, SUCCESS>, Transition, StiMode3SequenceBStep5, SUCCESS>, Transition, StiMode3SequenceBStep6, SUCCESS> @@ -43,7 +42,7 @@ struct StiMode3SequenceBStep3 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_4.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_4.hpp index 2ea792dba..558d81dcc 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_4.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_4.hpp @@ -31,7 +31,6 @@ struct StiMode3SequenceBStep4 : smacc2::SmaccState, StiMode3SequenceBStep7, TIMEOUT>, - Transition, StiMode3SequenceBStep3, PREVIOUS>, Transition, StiMode3SequenceBStep7, NEXT> //ransition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode3SequenceBStep4 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_5.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_5.hpp index 20297333f..0cb10e75d 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_5.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_5.hpp @@ -31,7 +31,6 @@ struct StiMode3SequenceBStep5 : smacc2::SmaccState, StiMode3SequenceBStep7, SUCCESS>, - Transition, StiMode3SequenceBStep3, PREVIOUS>, Transition, StiMode3SequenceBStep7, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode3SequenceBStep5 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_6.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_6.hpp index 168f1006e..04a0d6790 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_6.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_6.hpp @@ -31,7 +31,6 @@ struct StiMode3SequenceBStep6 : smacc2::SmaccState, StiMode3SequenceBStep7, TIMEOUT>, - Transition, StiMode3SequenceBStep5, PREVIOUS>, Transition, StiMode3SequenceBStep7, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode3SequenceBStep6 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_7.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_7.hpp index 769ec82ac..a5c6ae58e 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_7.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_7.hpp @@ -31,7 +31,6 @@ struct StiMode3SequenceBStep7 : smacc2::SmaccState, StiMode3SequenceBStep8, TIMEOUT>, - Transition, StiMode3SequenceBStep6, PREVIOUS>, Transition, StiMode3SequenceBStep8, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode3SequenceBStep7 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_8.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_8.hpp index 316823004..be8d0ba64 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_8.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_8.hpp @@ -31,7 +31,6 @@ struct StiMode3SequenceBStep8 : smacc2::SmaccState, StiMode3SequenceBStep9, TIMEOUT>, - Transition, StiMode3SequenceBStep7, PREVIOUS>, Transition, StiMode3SequenceBStep9, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode3SequenceBStep8 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_9.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_9.hpp index 21c8a9d00..be4c43d52 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_9.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_9.hpp @@ -31,7 +31,6 @@ struct StiMode3SequenceBStep9 : smacc2::SmaccState, StiMode3SequenceBLoop, TIMEOUT>, - Transition, StiMode3SequenceBStep8, PREVIOUS>, Transition, StiMode3SequenceBLoop, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode3SequenceBStep9 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_st_observe.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_st_observe.hpp index 2a75e61c9..f18e001f6 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_st_observe.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_3_st_observe.hpp @@ -40,7 +40,7 @@ struct Mode3StObserve : smacc2::SmaccState static void staticConfigure() { configure_orthogonal(10); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_1.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_1.hpp index 00608c490..ddd7c2751 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_1.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_1.hpp @@ -32,7 +32,6 @@ struct StiMode4SequenceAStep1 : smacc2::SmaccState, StiMode4SequenceAStep2, TIMEOUT>, Transition, StiMode4SequenceAStep2, NEXT> - //Transition, StiMode2SequenceALoop, PREVIOUS>, //Transition, Mode2StObserve, RETURN>, //Transition, MsRecovery2, ABORT> @@ -43,7 +42,7 @@ struct StiMode4SequenceAStep1 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_2.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_2.hpp index 9259fe41e..afb706120 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_2.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_2.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceAStep2 : smacc2::SmaccState, StiMode4SequenceAStep3, TIMEOUT>, - Transition, StiMode4SequenceAStep1, PREVIOUS>, Transition, StiMode4SequenceAStep3, NEXT> //Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode4SequenceAStep2 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_3.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_3.hpp index 9a9d06c64..1e22817d8 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_3.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_3.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceAStep3 : smacc2::SmaccState, StiMode4SequenceAStep4, TIMEOUT>, - Transition, StiMode4SequenceAStep2, PREVIOUS>, Transition, StiMode4SequenceAStep4, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -42,7 +41,7 @@ struct StiMode4SequenceAStep3 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_4.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_4.hpp index 9b414b77a..f86c3afa9 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_4.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_4.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceAStep4 : smacc2::SmaccState, StiMode4SequenceAStep5, TIMEOUT>, - Transition, StiMode4SequenceAStep3, PREVIOUS>, Transition, StiMode4SequenceAStep5, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode4SequenceAStep4 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_5.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_5.hpp index e1dc10abd..a2e1744e3 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_5.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_5.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceAStep5 : smacc2::SmaccState, StiMode4SequenceAStep6, TIMEOUT>, - Transition, StiMode4SequenceAStep4, PREVIOUS>, Transition, StiMode4SequenceAStep6, NEXT> //Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode4SequenceAStep5 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_6.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_6.hpp index 98a32004f..44e4faa41 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_6.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_6.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceAStep6 : smacc2::SmaccState, StiMode4SequenceAStep7, TIMEOUT>, - Transition, StiMode4SequenceAStep5, PREVIOUS>, Transition, StiMode4SequenceAStep7, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode4SequenceAStep6 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_7.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_7.hpp index bc6902e16..f919be2b1 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_7.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_7.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceAStep7 : smacc2::SmaccState, StiMode4SequenceAStep8, TIMEOUT>, - Transition, StiMode4SequenceAStep6, PREVIOUS>, Transition, StiMode4SequenceAStep8, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode4SequenceAStep7 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_8.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_8.hpp index 0d2841dec..4a42570a4 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_8.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_8.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceAStep8 : smacc2::SmaccState, StiMode4SequenceAStep9, TIMEOUT>, - Transition, StiMode4SequenceAStep7, PREVIOUS>, Transition, StiMode4SequenceAStep9, NEXT> //Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode4SequenceAStep8 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_9.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_9.hpp index 8b3e719d1..7a7078fcb 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_9.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_9.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceAStep9 : smacc2::SmaccState, StiMode4SequenceALoop, TIMEOUT>, - Transition, StiMode4SequenceAStep8, PREVIOUS>, Transition, StiMode4SequenceALoop, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode4SequenceAStep9 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_1.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_1.hpp index ac8e57c0c..b5069fe81 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_1.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_1.hpp @@ -31,8 +31,7 @@ struct StiMode4SequenceBStep1 : smacc2::SmaccState, StiMode4SequenceBStep2, TIMEOUT>, - Transition, StiMode4SequenceBStep2, NEXT>, - Transition, StiMode4SequenceB, PREVIOUS> + Transition, StiMode4SequenceBStep2, NEXT> //Transition, Mode2StObserve, RETURN>, //Transition, MsRecovery2, ABORT> @@ -43,7 +42,7 @@ struct StiMode4SequenceBStep1 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_2.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_2.hpp index eb961b86a..cac3daabb 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_2.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_2.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceBStep2 : smacc2::SmaccState, StiMode4SequenceBStep3, TIMEOUT>, - Transition, StiMode4SequenceBStep1, PREVIOUS>, Transition, StiMode4SequenceBStep3, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode4SequenceBStep2 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_3.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_3.hpp index 5a7d9db8f..cbba999b4 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_3.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_3.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceBStep3 : smacc2::SmaccState, StiMode4SequenceBStep4, TIMEOUT>, - Transition, StiMode4SequenceBStep2, PREVIOUS>, Transition, StiMode4SequenceBStep4, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode4SequenceBStep3 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_4.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_4.hpp index a59ceb89c..ed3fc82f8 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_4.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_4.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceBStep4 : smacc2::SmaccState, StiMode4SequenceBStep5, TIMEOUT>, - Transition, StiMode4SequenceBStep3, PREVIOUS>, Transition, StiMode4SequenceBStep5, NEXT> //ransition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode4SequenceBStep4 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_5.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_5.hpp index a6eb22bf8..20b84929b 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_5.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_5.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceBStep5 : smacc2::SmaccState, StiMode4SequenceBStep6, TIMEOUT>, - Transition, StiMode4SequenceBStep4, PREVIOUS>, Transition, StiMode4SequenceBStep6, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode4SequenceBStep5 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_6.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_6.hpp index bb657bb52..02e93f9b8 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_6.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_6.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceBStep6 : smacc2::SmaccState, StiMode4SequenceBStep7, TIMEOUT>, - Transition, StiMode4SequenceBStep5, PREVIOUS>, Transition, StiMode4SequenceBStep7, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode4SequenceBStep6 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_7.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_7.hpp index decf011ec..575ae8d0e 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_7.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_7.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceBStep7 : smacc2::SmaccState, StiMode4SequenceBStep8, TIMEOUT>, - Transition, StiMode4SequenceBStep6, PREVIOUS>, Transition, StiMode4SequenceBStep8, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode4SequenceBStep7 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_8.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_8.hpp index 9dbc4185f..2308eb2aa 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_8.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_8.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceBStep8 : smacc2::SmaccState, StiMode4SequenceBStep9, TIMEOUT>, - Transition, StiMode4SequenceBStep7, PREVIOUS>, Transition, StiMode4SequenceBStep9, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode4SequenceBStep8 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_9.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_9.hpp index 9ffd4c9ae..eba05745b 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_9.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_9.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceBStep9 : smacc2::SmaccState, StiMode4SequenceB, TIMEOUT>, - Transition, StiMode4SequenceBStep8, PREVIOUS>, Transition, StiMode4SequenceB, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode4SequenceBStep9 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_1.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_1.hpp index 9db06efc0..16169813f 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_1.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_1.hpp @@ -32,7 +32,6 @@ struct StiMode4SequenceCStep1 : smacc2::SmaccState, StiMode4SequenceCStep2, TIMEOUT>, Transition, StiMode4SequenceCStep2, NEXT> - //Transition, StiMode4SequenceCLoop2, PREVIOUS>, //Transition, Mode2StObserve, RETURN>, //Transition, MsRecovery2, ABORT> @@ -43,7 +42,7 @@ struct StiMode4SequenceCStep1 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_2.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_2.hpp index 6bb083e50..7f2cc1134 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_2.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_2.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceCStep2 : smacc2::SmaccState, StiMode4SequenceCStep3, TIMEOUT>, - Transition, StiMode4SequenceCStep1, PREVIOUS>, Transition, StiMode4SequenceCStep3, NEXT> //Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode4SequenceCStep2 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_3.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_3.hpp index b1fad9b50..096914436 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_3.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_3.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceCStep3 : smacc2::SmaccState, StiMode4SequenceCStep4, TIMEOUT>, - Transition, StiMode4SequenceCStep2, PREVIOUS>, Transition, StiMode4SequenceCStep4, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -42,7 +41,7 @@ struct StiMode4SequenceCStep3 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_4.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_4.hpp index 855e9d581..48a6a9366 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_4.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_4.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceCStep4 : smacc2::SmaccState, StiMode4SequenceCStep5, TIMEOUT>, - Transition, StiMode4SequenceCStep3, PREVIOUS>, Transition, StiMode4SequenceCStep5, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode4SequenceCStep4 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_5.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_5.hpp index 998d54ed5..530e63bf0 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_5.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_5.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceCStep5 : smacc2::SmaccState, StiMode4SequenceCStep6, TIMEOUT>, - Transition, StiMode4SequenceCStep4, PREVIOUS>, Transition, StiMode4SequenceCStep6, NEXT> //Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode4SequenceCStep5 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_6.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_6.hpp index 8fe18fa5d..ff5a6254e 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_6.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_6.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceCStep6 : smacc2::SmaccState, StiMode4SequenceCStep7, TIMEOUT>, - Transition, StiMode4SequenceCStep5, PREVIOUS>, Transition, StiMode4SequenceCStep7, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode4SequenceCStep6 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_7.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_7.hpp index d7cbef102..a94e3731a 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_7.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_7.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceCStep7 : smacc2::SmaccState, StiMode4SequenceCStep9, TIMEOUT>, - Transition, StiMode4SequenceCStep6, PREVIOUS>, Transition, StiMode4SequenceCStep9, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode4SequenceCStep7 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_8.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_8.hpp index 85507e568..f56547176 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_8.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_8.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceCStep8 : smacc2::SmaccState, StiMode4SequenceCStep9, TIMEOUT>, - Transition, StiMode4SequenceCStep7, PREVIOUS>, Transition, StiMode4SequenceCStep9, NEXT> //Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode4SequenceCStep8 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_9.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_9.hpp index 21ba64d7d..c2daeba74 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_9.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_9.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceCStep9 : smacc2::SmaccState, StiMode4SequenceCLoop, TIMEOUT>, - Transition, StiMode4SequenceCStep7, PREVIOUS>, Transition, StiMode4SequenceCLoop, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode4SequenceCStep9 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_1.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_1.hpp index 626984f10..bbbe5be36 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_1.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_1.hpp @@ -32,7 +32,6 @@ struct StiMode4SequenceDStep1 : smacc2::SmaccState, StiMode4SequenceDStep2, TIMEOUT>, Transition, StiMode4SequenceDStep2, NEXT> - //Transition, StiMode2SequenceALoop, PREVIOUS>, //Transition, Mode2StObserve, RETURN>, //Transition, MsRecovery2, ABORT> @@ -43,7 +42,7 @@ struct StiMode4SequenceDStep1 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_2.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_2.hpp index 8a5cca13a..ba9024b80 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_2.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_2.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceDStep2 : smacc2::SmaccState, StiMode4SequenceDStep3, TIMEOUT>, - Transition, StiMode4SequenceDStep1, PREVIOUS>, Transition, StiMode4SequenceDStep3, NEXT> //Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode4SequenceDStep2 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_3.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_3.hpp index 5a2a39524..6ef14c3ae 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_3.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_3.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceDStep3 : smacc2::SmaccState, StiMode4SequenceDStep4, TIMEOUT>, - Transition, StiMode4SequenceDStep2, PREVIOUS>, Transition, StiMode4SequenceDStep4, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -42,7 +41,7 @@ struct StiMode4SequenceDStep3 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_4.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_4.hpp index e121160ca..d5fbbf93b 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_4.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_4.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceDStep4 : smacc2::SmaccState, StiMode4SequenceDStep5, TIMEOUT>, - Transition, StiMode4SequenceDStep3, PREVIOUS>, Transition, StiMode4SequenceDStep5, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode4SequenceDStep4 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_5.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_5.hpp index 8b2599a5b..769469bb8 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_5.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_5.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceDStep5 : smacc2::SmaccState, StiMode4SequenceDStep6, TIMEOUT>, - Transition, StiMode4SequenceDStep4, PREVIOUS>, Transition, StiMode4SequenceDStep6, NEXT> //Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode4SequenceDStep5 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_6.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_6.hpp index 045f45cb7..d716afa09 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_6.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_6.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceDStep6 : smacc2::SmaccState, StiMode4SequenceDStep7, TIMEOUT>, - Transition, StiMode4SequenceDStep5, PREVIOUS>, Transition, StiMode4SequenceDStep7, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode4SequenceDStep6 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_7.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_7.hpp index 55ff70b5a..31d92c814 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_7.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_7.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceDStep7 : smacc2::SmaccState, StiMode4SequenceDStep8, TIMEOUT>, - Transition, StiMode4SequenceDStep6, PREVIOUS>, Transition, StiMode4SequenceDStep8, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode4SequenceDStep7 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_8.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_8.hpp index 132317c0b..0aa8c8421 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_8.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_8.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceDStep8 : smacc2::SmaccState, StiMode4SequenceDStep9, TIMEOUT>, - Transition, StiMode4SequenceDStep7, PREVIOUS>, Transition, StiMode4SequenceDStep9, NEXT> //Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode4SequenceDStep8 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_9.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_9.hpp index 5d215d41f..1fe34cfc1 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_9.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_9.hpp @@ -31,7 +31,6 @@ struct StiMode4SequenceDStep9 : smacc2::SmaccState, StiMode4SequenceDLoop, TIMEOUT>, - Transition, StiMode4SequenceDStep8, PREVIOUS>, Transition, StiMode4SequenceDLoop, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode4SequenceDStep9 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_st_observe.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_st_observe.hpp index e0aa7dfad..f0910d610 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_st_observe.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_4_st_observe.hpp @@ -40,7 +40,7 @@ struct Mode4StObserve : smacc2::SmaccState static void staticConfigure() { configure_orthogonal(10); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_1.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_1.hpp index 6c645482d..8d0647924 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_1.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_1.hpp @@ -32,7 +32,6 @@ struct StiMode5SequenceAStep1 : smacc2::SmaccState, StiMode5SequenceAStep2, TIMEOUT>, Transition, StiMode5SequenceAStep2, NEXT> - //Transition, StiMode2SequenceALoop, PREVIOUS>, //Transition, Mode2StObserve, RETURN>, //Transition, MsRecovery2, ABORT> @@ -43,7 +42,7 @@ struct StiMode5SequenceAStep1 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_2.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_2.hpp index 657769d82..0b2cf1d09 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_2.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_2.hpp @@ -31,7 +31,6 @@ struct StiMode5SequenceAStep2 : smacc2::SmaccState, StiMode5SequenceAStep3, TIMEOUT>, - Transition, StiMode5SequenceAStep1, PREVIOUS>, Transition, StiMode5SequenceAStep3, NEXT> //Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode5SequenceAStep2 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_3.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_3.hpp index 870ca4a41..a105098dd 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_3.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_3.hpp @@ -31,7 +31,6 @@ struct StiMode5SequenceAStep3 : smacc2::SmaccState, StiMode5SequenceAStep5, SUCCESS>, - Transition, StiMode5SequenceAStep2, PREVIOUS>, Transition, StiMode5SequenceAStep4, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -42,7 +41,7 @@ struct StiMode5SequenceAStep3 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_4.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_4.hpp index 3b141910e..e76dea92b 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_4.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_4.hpp @@ -31,7 +31,6 @@ struct StiMode5SequenceAStep4 : smacc2::SmaccState, StiMode5SequenceAStep5, TIMEOUT>, - Transition, StiMode5SequenceAStep3, PREVIOUS>, Transition, StiMode5SequenceAStep5, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode5SequenceAStep4 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_5.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_5.hpp index da33260f3..0488cbea0 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_5.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_5.hpp @@ -31,7 +31,6 @@ struct StiMode5SequenceAStep5 : smacc2::SmaccState, StiMode5SequenceAStep6, TIMEOUT>, - Transition, StiMode5SequenceAStep4, PREVIOUS>, Transition, StiMode5SequenceAStep6, NEXT> //Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode5SequenceAStep5 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_6.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_6.hpp index d9028a7b8..b51ec0bae 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_6.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_6.hpp @@ -31,7 +31,6 @@ struct StiMode5SequenceAStep6 : smacc2::SmaccState, StiMode5SequenceAStep7, TIMEOUT>, - Transition, StiMode5SequenceAStep5, PREVIOUS>, Transition, StiMode5SequenceAStep7, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode5SequenceAStep6 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_7.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_7.hpp index 797765878..419e5ae90 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_7.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_7.hpp @@ -31,7 +31,6 @@ struct StiMode5SequenceAStep7 : smacc2::SmaccState, StiMode5SequenceAStep9, SUCCESS>, - Transition, StiMode5SequenceAStep6, PREVIOUS>, Transition, StiMode5SequenceAStep8, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode5SequenceAStep7 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_8.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_8.hpp index fbf7c2f7b..6d164296f 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_8.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_8.hpp @@ -31,7 +31,6 @@ struct StiMode5SequenceAStep8 : smacc2::SmaccState, StiMode5SequenceAStep9, TIMEOUT>, - Transition, StiMode5SequenceAStep7, PREVIOUS>, Transition, StiMode5SequenceAStep9, NEXT> //Transition, Mode1StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode5SequenceAStep8 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_9.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_9.hpp index f025b88b2..a34fcc234 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_9.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_9.hpp @@ -31,7 +31,6 @@ struct StiMode5SequenceAStep9 : smacc2::SmaccState, StiMode5SequenceALoop, TIMEOUT>, - Transition, StiMode5SequenceAStep8, PREVIOUS>, Transition, StiMode5SequenceALoop, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode5SequenceAStep9 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_1.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_1.hpp index bd9167c8a..f02219d5f 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_1.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_1.hpp @@ -31,8 +31,7 @@ struct StiMode5SequenceBStep1 : smacc2::SmaccState, StiMode5SequenceBStep2, TIMEOUT>, - Transition, StiMode5SequenceBStep2, NEXT>, - Transition, StiMode5SequenceBLoop, PREVIOUS> + Transition, StiMode5SequenceBStep2, NEXT> //Transition, Mode2StObserve, RETURN>, //Transition, MsRecovery2, ABORT> @@ -43,7 +42,7 @@ struct StiMode5SequenceBStep1 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_2.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_2.hpp index e8efc3522..8ecfcf61e 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_2.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_2.hpp @@ -31,7 +31,6 @@ struct StiMode5SequenceBStep2 : smacc2::SmaccState, StiMode5SequenceBStep3, TIMEOUT>, - Transition, StiMode5SequenceBStep1, PREVIOUS>, Transition, StiMode5SequenceBStep3, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode5SequenceBStep2 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_3.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_3.hpp index b7a55e353..4fe2064a0 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_3.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_3.hpp @@ -31,7 +31,6 @@ struct StiMode5SequenceBStep3 : smacc2::SmaccState, StiMode5SequenceBStep4, TIMEOUT>, - Transition, StiMode5SequenceBStep2, PREVIOUS>, Transition, StiMode5SequenceBStep4, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode5SequenceBStep3 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_4.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_4.hpp index 4690450ea..a5a015dd8 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_4.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_4.hpp @@ -31,7 +31,6 @@ struct StiMode5SequenceBStep4 : smacc2::SmaccState, StiMode5SequenceBStep5, TIMEOUT>, - Transition, StiMode5SequenceBStep3, PREVIOUS>, Transition, StiMode5SequenceBStep5, NEXT> //ransition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode5SequenceBStep4 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_5.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_5.hpp index 36b9b9b19..15f50e5fc 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_5.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_5.hpp @@ -31,7 +31,6 @@ struct StiMode5SequenceBStep5 : smacc2::SmaccState, StiMode5SequenceBStep6, TIMEOUT>, - Transition, StiMode5SequenceBStep4, PREVIOUS>, Transition, StiMode5SequenceBStep6, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode5SequenceBStep5 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_6.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_6.hpp index f411ee0e1..5bd25461d 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_6.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_6.hpp @@ -31,7 +31,6 @@ struct StiMode5SequenceBStep6 : smacc2::SmaccState, StiMode5SequenceBStep8, SUCCESS>, - Transition, StiMode5SequenceBStep5, PREVIOUS>, Transition, StiMode5SequenceBStep7, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode5SequenceBStep6 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_7.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_7.hpp index d67710784..18990ae48 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_7.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_7.hpp @@ -31,7 +31,6 @@ struct StiMode5SequenceBStep7 : smacc2::SmaccState, StiMode5SequenceBStep8, TIMEOUT>, - Transition, StiMode5SequenceBStep6, PREVIOUS>, Transition, StiMode5SequenceBStep8, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode5SequenceBStep7 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_8.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_8.hpp index 04a67a260..d398ad354 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_8.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_8.hpp @@ -31,7 +31,6 @@ struct StiMode5SequenceBStep8 : smacc2::SmaccState, StiMode5SequenceBStep9, TIMEOUT>, - Transition, StiMode5SequenceBStep7, PREVIOUS>, Transition, StiMode5SequenceBStep9, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode5SequenceBStep8 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_9.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_9.hpp index 1cb0ca34b..7302becda 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_9.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_9.hpp @@ -31,7 +31,6 @@ struct StiMode5SequenceBStep9 : smacc2::SmaccState, StiMode5SequenceBLoop, TIMEOUT>, - Transition, StiMode5SequenceBStep8, PREVIOUS>, Transition, StiMode5SequenceBLoop, NEXT> //Transition, Mode2StObserve, RETURN>, @@ -43,7 +42,7 @@ struct StiMode5SequenceBStep9 : smacc2::SmaccState(20); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_st_observe.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_st_observe.hpp index cd818559f..c3c1fcf87 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_st_observe.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/mode_5_st_observe.hpp @@ -40,7 +40,7 @@ struct Mode5StObserve : smacc2::SmaccState static void staticConfigure() { configure_orthogonal(10); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_1/st_recovery_analyze_1.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_1/st_recovery_analyze_1.hpp index 6384ee25e..e439d198a 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_1/st_recovery_analyze_1.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_1/st_recovery_analyze_1.hpp @@ -40,7 +40,7 @@ struct StRecoveryAnalyze1 : smacc2::SmaccState static void staticConfigure() { configure_orthogonal(50); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_1/st_recovery_bifurcate_1.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_1/st_recovery_bifurcate_1.hpp index daf37ccf0..75a78d50a 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_1/st_recovery_bifurcate_1.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_1/st_recovery_bifurcate_1.hpp @@ -40,7 +40,7 @@ struct StRecoveryBifurcate1 : smacc2::SmaccState(50); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_1/st_recovery_calculate_1.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_1/st_recovery_calculate_1.hpp index a380c3eed..5cdece64b 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_1/st_recovery_calculate_1.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_1/st_recovery_calculate_1.hpp @@ -40,7 +40,7 @@ struct StRecoveryCalculate1 : smacc2::SmaccState(50); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_1/st_recovery_deliberate_1.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_1/st_recovery_deliberate_1.hpp index 250ba8474..29e2763b4 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_1/st_recovery_deliberate_1.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_1/st_recovery_deliberate_1.hpp @@ -36,7 +36,7 @@ struct StRecoveryDeliberate1 : smacc2::SmaccState(50); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_1/st_recovery_evaluate_1.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_1/st_recovery_evaluate_1.hpp index cbb2797b4..fc591aa3a 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_1/st_recovery_evaluate_1.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_1/st_recovery_evaluate_1.hpp @@ -40,7 +40,7 @@ struct StRecoveryEvaluate1 : smacc2::SmaccState(50); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_1/st_recovery_generate_1.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_1/st_recovery_generate_1.hpp index b5070501f..bb30c89ce 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_1/st_recovery_generate_1.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_1/st_recovery_generate_1.hpp @@ -40,7 +40,7 @@ struct StRecoveryGenerate1 : smacc2::SmaccState(50); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_1/st_recovery_innervate_1.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_1/st_recovery_innervate_1.hpp index 3b8b2dff4..4726b88b4 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_1/st_recovery_innervate_1.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_1/st_recovery_innervate_1.hpp @@ -35,7 +35,7 @@ struct StRecoveryInnervate1 : smacc2::SmaccState(50); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_2/st_recovery_analyze_2.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_2/st_recovery_analyze_2.hpp index 267ae4b75..42bc86459 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_2/st_recovery_analyze_2.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_2/st_recovery_analyze_2.hpp @@ -40,7 +40,7 @@ struct StRecoveryAnalyze2 : smacc2::SmaccState static void staticConfigure() { configure_orthogonal(50); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_2/st_recovery_bifurcate_2.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_2/st_recovery_bifurcate_2.hpp index 72ef5ef03..677514431 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_2/st_recovery_bifurcate_2.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_2/st_recovery_bifurcate_2.hpp @@ -40,7 +40,7 @@ struct StRecoveryBifurcate2 : smacc2::SmaccState(50); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_2/st_recovery_calculate_2.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_2/st_recovery_calculate_2.hpp index aa9b09f73..0ed01f37d 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_2/st_recovery_calculate_2.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_2/st_recovery_calculate_2.hpp @@ -40,7 +40,7 @@ struct StRecoveryCalculate2 : smacc2::SmaccState(50); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_2/st_recovery_deliberate_2.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_2/st_recovery_deliberate_2.hpp index 673b6af76..d65b611d2 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_2/st_recovery_deliberate_2.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_2/st_recovery_deliberate_2.hpp @@ -36,7 +36,7 @@ struct StRecoveryDeliberate2 : smacc2::SmaccState(50); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_2/st_recovery_evaluate_2.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_2/st_recovery_evaluate_2.hpp index 89553497c..61b05f808 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_2/st_recovery_evaluate_2.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_2/st_recovery_evaluate_2.hpp @@ -40,7 +40,7 @@ struct StRecoveryEvaluate2 : smacc2::SmaccState(50); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_2/st_recovery_generate_2.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_2/st_recovery_generate_2.hpp index 9232f07a5..7ceadb6e7 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_2/st_recovery_generate_2.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_2/st_recovery_generate_2.hpp @@ -40,7 +40,7 @@ struct StRecoveryGenerate2 : smacc2::SmaccState(50); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_2/st_recovery_innervate_2.hpp b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_2/st_recovery_innervate_2.hpp index abb5c802b..79d26dbf0 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_2/st_recovery_innervate_2.hpp +++ b/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/states/ms_recovery_2/st_recovery_innervate_2.hpp @@ -35,7 +35,7 @@ struct StRecoveryInnervate2 : smacc2::SmaccState(50); - configure_orthogonal(); + configure_orthogonal(); } diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/launch/sm_multi_stage_1.launch.py b/smacc2_sm_reference_library/sm_multi_stage_1/launch/sm_multi_stage_1.launch.py new file mode 100644 index 000000000..b5d886fe5 --- /dev/null +++ b/smacc2_sm_reference_library/sm_multi_stage_1/launch/sm_multi_stage_1.launch.py @@ -0,0 +1,101 @@ +# 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. + +import os +from datetime import datetime +from launch import LaunchDescription +from launch.actions import OpaqueFunction +from launch_ros.actions import Node + + +def setup_log_directory(): + """ + Creates timestamped log directory with error handling. + Returns: (log_dir_path, timestamp) tuple + """ + timestamp = datetime.now().strftime("%Y-%m-%d-%H-%M-%S") + + # Primary log directory location + log_dir = os.path.join(os.path.expanduser("~"), ".ros", "log", timestamp) + + try: + os.makedirs(log_dir, mode=0o755, exist_ok=True) + print(f"[Launch] Log directory created: {log_dir}") + return log_dir, timestamp + except PermissionError as e: + # Fallback to /tmp if ~/.ros is not writable + fallback_dir = os.path.join("/tmp", "sm_multi_stage_1_logs", timestamp) + print(f"[Launch] WARNING: Cannot create log directory at {log_dir}") + print(f"[Launch] Permission denied: {e}") + print(f"[Launch] Using fallback directory: {fallback_dir}") + try: + os.makedirs(fallback_dir, mode=0o755, exist_ok=True) + return fallback_dir, timestamp + except Exception as fallback_error: + print(f"[Launch] ERROR: Cannot create fallback directory: {fallback_error}") + print(f"[Launch] Logs will only be displayed in konsole terminals") + return None, timestamp + except OSError as e: + print(f"[Launch] ERROR: Failed to create log directory: {e}") + print(f"[Launch] Logs will only be displayed in konsole terminals") + return None, timestamp + + +def generate_launch_description(): + return LaunchDescription([OpaqueFunction(function=launch_setup)]) + + +def launch_setup(context, *args, **kwargs): + + # Setup logging directory + log_dir, timestamp = setup_log_directory() + + # Construct logging prefix for state machine node + if log_dir: + state_machine_log = os.path.join(log_dir, f"state_machine_{timestamp}.log") + state_machine_prefix = f'konsole --hold -p tabtitle="State Machine" -e bash -c \'RCUTILS_COLORIZED_OUTPUT=1 "$@" 2>&1 | tee {state_machine_log}; exec bash\' -- ' + else: + state_machine_prefix = 'konsole --hold -p tabtitle="State Machine" -e' + + sm_multi_stage_1_node = Node( + package="sm_multi_stage_1", + executable="sm_multi_stage_1_node", + name="sm_multi_stage_1", + output="screen", + prefix=state_machine_prefix, + arguments=["--ros-args", "--log-level", "DEBUG"], + ) + + # Construct logging prefix for keyboard client node + if log_dir: + keyboard_log = os.path.join(log_dir, f"cl_keyboard_{timestamp}.log") + keyboard_prefix = f'konsole --hold -p tabtitle="Keyboard Server" -e bash -c \'RCUTILS_COLORIZED_OUTPUT=1 "$@" 2>&1 | tee {keyboard_log}; exec bash\' -- ' + else: + keyboard_prefix = 'konsole --hold -p tabtitle="Keyboard Server" -e' + + keyboard_server_node = Node( + package="cl_keyboard", + executable="keyboard_server_node.py", + name="keyboard_server_node", + output="screen", + prefix=keyboard_prefix, + arguments=["--ros-args", "--log-level", "INFO"], + ) + + nodes_to_start = [ + sm_multi_stage_1_node, + keyboard_server_node, + ] + + return nodes_to_start diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/package.xml b/smacc2_sm_reference_library/sm_multi_stage_1/package.xml index 60879ac70..afd39cd38 100644 --- a/smacc2_sm_reference_library/sm_multi_stage_1/package.xml +++ b/smacc2_sm_reference_library/sm_multi_stage_1/package.xml @@ -4,18 +4,17 @@ sm_multi_stage_1 3.0.1 The sm_multi_stage_1 package - geus + Apache-2.0 smacc2 rclcpp - multirole_sensor_client sr_all_events_go std_msgs cl_ros2_timer cl_keyboard - xterm + konsole ament_cmake diff --git a/smacc2_sm_reference_library/sm_multithread_test_1/include/sm_multithread_test_1/sm_multithread_test_1.hpp b/smacc2_sm_reference_library/sm_multithread_test_1/include/sm_multithread_test_1/sm_multithread_test_1.hpp index 394a89885..b0479efc3 100644 --- a/smacc2_sm_reference_library/sm_multithread_test_1/include/sm_multithread_test_1/sm_multithread_test_1.hpp +++ b/smacc2_sm_reference_library/sm_multithread_test_1/include/sm_multithread_test_1/sm_multithread_test_1.hpp @@ -94,11 +94,11 @@ struct SmMultithreadTest1 virtual void onInitialize() override { - RCLCPP_INFO(getLogger(), ""); + RCLCPP_INFO(getLogger(), " "); RCLCPP_INFO(getLogger(), "╔════════════════════════════════════════════════════════════════╗"); RCLCPP_INFO(getLogger(), "║ SmMultithreadTest1 - Multi-threaded Executor Demo ║"); RCLCPP_INFO(getLogger(), "╚════════════════════════════════════════════════════════════════╝"); - RCLCPP_INFO(getLogger(), ""); + RCLCPP_INFO(getLogger(), " "); RCLCPP_INFO(getLogger(), "Initializing state machine with 4 timer orthogonals..."); // Create the four orthogonals, each with a timer at a different rate @@ -108,7 +108,7 @@ struct SmMultithreadTest1 this->createOrthogonal(); // 1000ms RCLCPP_INFO(getLogger(), "State machine initialization complete."); - RCLCPP_INFO(getLogger(), ""); + RCLCPP_INFO(getLogger(), " "); } }; diff --git a/smacc2_sm_reference_library/sm_multithread_test_1/include/sm_multithread_test_1/states/st_complete.hpp b/smacc2_sm_reference_library/sm_multithread_test_1/include/sm_multithread_test_1/states/st_complete.hpp index 35d11146b..6092cab62 100644 --- a/smacc2_sm_reference_library/sm_multithread_test_1/include/sm_multithread_test_1/states/st_complete.hpp +++ b/smacc2_sm_reference_library/sm_multithread_test_1/include/sm_multithread_test_1/states/st_complete.hpp @@ -44,24 +44,24 @@ struct StComplete : smacc2::SmaccState void onEntry() { - RCLCPP_INFO(getLogger(), ""); + RCLCPP_INFO(getLogger(), " "); RCLCPP_INFO(getLogger(), "════════════════════════════════════════════════════════════════"); - RCLCPP_INFO(getLogger(), ""); + RCLCPP_INFO(getLogger(), " "); RCLCPP_INFO(getLogger(), " ✅ Multi-threaded Executor Demonstration Complete!"); - RCLCPP_INFO(getLogger(), ""); + RCLCPP_INFO(getLogger(), " "); RCLCPP_INFO(getLogger(), " 📊 Review the logs above to observe:"); RCLCPP_INFO(getLogger(), " • Thread IDs in callback execution"); RCLCPP_INFO(getLogger(), " • Concurrent vs serial execution patterns"); RCLCPP_INFO(getLogger(), " • Overlapping work timestamps"); - RCLCPP_INFO(getLogger(), ""); + RCLCPP_INFO(getLogger(), " "); RCLCPP_INFO(getLogger(), " 🔄 To compare modes, run:"); RCLCPP_INFO(getLogger(), " • Multi-threaded: ros2 launch sm_multithread_test_1 sm_multithread_test_1.launch.py"); RCLCPP_INFO(getLogger(), " • Single-threaded: ros2 launch sm_multithread_test_1 sm_multithread_test_1_single.launch.py"); - RCLCPP_INFO(getLogger(), ""); + RCLCPP_INFO(getLogger(), " "); RCLCPP_INFO(getLogger(), " Press Ctrl+C to exit."); - RCLCPP_INFO(getLogger(), ""); + RCLCPP_INFO(getLogger(), " "); RCLCPP_INFO(getLogger(), "════════════════════════════════════════════════════════════════"); - RCLCPP_INFO(getLogger(), ""); + RCLCPP_INFO(getLogger(), " "); } void onExit() diff --git a/smacc2_sm_reference_library/sm_multithread_test_1/include/sm_multithread_test_1/states/st_concurrent_operation.hpp b/smacc2_sm_reference_library/sm_multithread_test_1/include/sm_multithread_test_1/states/st_concurrent_operation.hpp index 2108e1f75..89f5ab917 100644 --- a/smacc2_sm_reference_library/sm_multithread_test_1/include/sm_multithread_test_1/states/st_concurrent_operation.hpp +++ b/smacc2_sm_reference_library/sm_multithread_test_1/include/sm_multithread_test_1/states/st_concurrent_operation.hpp @@ -75,32 +75,32 @@ struct StConcurrentOperation : smacc2::SmaccState`_) diff --git a/smacc2_sm_reference_library/sm_simple_action_client/CMakeLists.txt b/smacc2_sm_reference_library/sm_simple_action_client/CMakeLists.txt index 40af43590..816931237 100644 --- a/smacc2_sm_reference_library/sm_simple_action_client/CMakeLists.txt +++ b/smacc2_sm_reference_library/sm_simple_action_client/CMakeLists.txt @@ -48,6 +48,11 @@ install(DIRECTORY DESTINATION share/${PROJECT_NAME} ) +install(PROGRAMS + scripts/auto_mode_trigger.py + DESTINATION lib/${PROJECT_NAME} +) + install(TARGETS ${PROJECT_NAME}_node DESTINATION lib/${PROJECT_NAME} diff --git a/smacc2_sm_reference_library/sm_simple_action_client/README.md b/smacc2_sm_reference_library/sm_simple_action_client/README.md index dd1933752..a539f6797 100644 --- a/smacc2_sm_reference_library/sm_simple_action_client/README.md +++ b/smacc2_sm_reference_library/sm_simple_action_client/README.md @@ -1,40 +1,274 @@ -

Build Instructions

+# SM Simple Action Client + +A SMACC2 tutorial demonstrating topic subscription and action client patterns. + +## Overview + +This state machine demonstrates: +- **Topic Subscriber Pattern**: `ClModeSelect` subscribes to `/mode_command` +- **Action Client Pattern**: `ClFibonacci` sends goals to Fibonacci action server +- **Three-State Flow**: Demonstrates waiting → executing → completion states + +## State Machine Architecture + +### States + +**StState1 - Waiting for Mode Command** +- **Purpose**: Initial state, waits for autonomous mode trigger +- **Orthogonals**: + - `OrModeSelect`: Runs `CbModeSelect` behavior (subscribes to `/mode_command`) + - `OrFibonacci`: Empty (no behavior) +- **Transitions**: + - `EvAutonomousMode` (when data=1) → **StState2** + +**StState2 - Executing Fibonacci Action** +- **Purpose**: Sends Fibonacci calculation request to action server +- **Orthogonals**: + - `OrModeSelect`: Runs `CbModeSelect` behavior (still monitoring topic) + - `OrFibonacci`: Runs `CbFibonacci` behavior (sends goal with order=10) +- **Transitions**: + - `EvCbSuccess` → **StState3** (action succeeded) + - `EvCbFailure` → **StState2** (stay in state to retry) + - `EvManualMode` (when data=0) → **StState1** + +**StState3 - Action Completed Successfully** +- **Purpose**: Terminal success state, demonstrates completion +- **Orthogonals**: + - `OrModeSelect`: Runs `CbModeSelect` behavior (still monitoring topic) + - `OrFibonacci`: Empty (no behavior) +- **Transitions**: + - `EvManualMode` (when data=0) → **StState1** (restart cycle) + +### Interaction Pattern -First, source your ros2 installation. ``` -source /opt/ros/jazzy/setup.bash +Start + ↓ +┌─────────────────┐ +│ StState1 │ ← Manual: publish {data: 0} +│ (Waiting) │ ←──────────────────────┐ +└────────┬────────┘ │ + │ Auto/Manual: {data: 1} │ + ▼ │ +┌─────────────────┐ │ +│ StState2 │ │ +│ (Executing) │ │ +└─────┬───┬───────┘ │ + │ │ │ + │ └─ Failure (retry in StState2) │ + │ │ + ▼ Success │ +┌─────────────────┐ │ +│ StState3 │ │ +│ (Complete) │ │ +└─────────────────┘ │ + │ │ + └────────────────────────────────────┘ ``` -Before you build, make sure you've installed all the dependencies... +## Build Instructions +First, source your ROS2 installation: +```bash +source /opt/ros/jazzy/setup.bash ``` + +Before you build, install dependencies: +```bash rosdep install --ignore-src --from-paths src -y -r ``` -Then build with colcon build... - +Build with colcon: +```bash +colcon build --packages-select sm_simple_action_client ``` -colcon build + +## Operating Instructions - Automated Demo + +The launch file starts everything automatically for a hands-off demonstration: + +```bash +source install/setup.bash +ros2 launch sm_simple_action_client sm_simple_action_client.py ``` -

Operating Instructions

-After you build, remember to source the proper workspace... +**What happens automatically**: +1. **Fibonacci action server** starts in separate konsole window +2. **State machine** starts in StState1 in separate konsole window +3. **Auto-trigger** waits 3 seconds, then publishes autonomous mode command +4. State machine transitions: **StState1** → **StState2** +5. Fibonacci action executes (order=10) +6. On success, state machine transitions: **StState2** → **StState3** +7. State machine remains in StState3 (terminal state) + +## Operating Instructions - Manual Control + +For learning/testing, you can manually control the state machine: + +### Step 1: Start Fibonacci Action Server (in separate terminal) +```bash +ros2 run action_tutorials_cpp fibonacci_action_server ``` + +### Step 2: Start State Machine (in separate terminal) +```bash source install/setup.bash +ros2 launch sm_simple_action_client sm_simple_action_client.py ``` -And then run the launch file... +### Step 3: Trigger Transitions Manually + +**Transition to Autonomous Mode (StState1 → StState2)**: +```bash +ros2 topic pub /mode_command example_interfaces/msg/Int32 "{data: 1}" --once +``` +**Return to Manual Mode (StState3 → StState1 or StState2 → StState1)**: +```bash +ros2 topic pub /mode_command example_interfaces/msg/Int32 "{data: 0}" --once ``` -ros2 launch sm_simple_action_client sm_simple_action_client.launch +## Monitoring the State Machine + +**View current state and orthogonals**: +```bash +ros2 topic echo /sm_simple_action_client/smacc/status ``` -

Viewer Instructions

-If you have the SMACC2 Runtime Analyzer installed then type... +**View all events being posted**: +```bash +ros2 topic echo /sm_simple_action_client/smacc/event_log +``` +**View state transitions**: +```bash +ros2 topic echo /sm_simple_action_client/smacc/transition_log ``` + +**View state machine structure**: +```bash +ros2 topic echo /sm_simple_action_client/smacc/state_machine_description +``` + +## Log Files + +Logs are automatically saved to timestamped directories: +- **Location**: `~/.ros/log/{timestamp}-sm_simple_action_client/` +- **Files**: + - `sm_simple_action_client_node_{timestamp}.log` - State machine output + - `fibonacci_action_server_{timestamp}.log` - Action server output + - `auto_mode_trigger_{timestamp}.log` - Auto-trigger output + +## Components Reference + +### Clients + +**ClModeSelect** - Topic Subscriber Client +- **Subscribes to**: `/mode_command` (example_interfaces/msg/Int32) +- **Events Posted**: + - `EvAutonomousMode` when message data=1 + - `EvManualMode` when message data=0 +- **Signals**: + - `onFirstMessageReceived_` - Emitted on first message + - `onMessageReceived_` - Emitted on every message + +**ClFibonacci** - Action Client +- **Action**: `/fibonacci` (action_tutorials_interfaces/action/Fibonacci) +- **Goal**: Fibonacci sequence with order=10 +- **Events Posted**: + - `EvCbSuccess` on successful completion + - `EvCbFailure` on abort/cancellation + +### Client Behaviors + +**CbModeSelect** - Mode Selection Behavior +- **Type**: SmaccClientBehavior (synchronous) +- **Purpose**: Monitors `/mode_command` topic and posts mode events +- **Lifecycle**: + - `onEntry()`: Registers callbacks for first message and all messages + - Callbacks invoke `ClModeSelect` event posting functions based on message data + +**CbFibonacci** - Fibonacci Action Behavior +- **Type**: SmaccAsyncClientBehavior (asynchronous) +- **Purpose**: Sends Fibonacci calculation goal to action server +- **Lifecycle**: + - `onEntry()`: Sends goal (order=100) to action server + - Waits asynchronously for result + - `onExit()`: Cancels goal if state exits early +- **Result Handling**: + - Success → posts `EvCbSuccess` + - Abort/Failure → posts `EvCbFailure` + +### Orthogonals + +**OrModeSelect** +- **Purpose**: Manages mode selection client and behavior +- **Client**: ClModeSelect +- **States using this**: + - StState1: CbModeSelect behavior + - StState2: CbModeSelect behavior + - StState3: CbModeSelect behavior + +**OrFibonacci** +- **Purpose**: Manages Fibonacci action client and behavior +- **Client**: ClFibonacci +- **States using this**: + - StState1: No behavior (empty) + - StState2: CbFibonacci behavior (executes action) + - StState3: No behavior (empty) + +## Troubleshooting + +**State machine stuck in StState1**: +- Check if mode command was published: + ```bash + ros2 topic echo /mode_command + ``` +- Manually trigger autonomous mode: + ```bash + ros2 topic pub /mode_command example_interfaces/msg/Int32 "{data: 1}" --once + ``` + +**Fibonacci action not executing**: +- Verify action server is running: + ```bash + ros2 action list + ``` + Should show `/fibonacci` action available +- Start action server manually: + ```bash + ros2 run action_tutorials_cpp fibonacci_action_server + ``` + +**State machine doesn't transition to StState3**: +- Check Fibonacci action result in logs +- Verify action server is completing successfully +- Check event log: + ```bash + ros2 topic echo /sm_simple_action_client/smacc/event_log + ``` + +**Konsole windows not appearing**: +- Verify konsole is installed: `which konsole` +- Install if needed: `sudo apt install konsole` +- Logs are still saved even if konsole fails + +## Viewer Instructions + +If you have the SMACC2 Runtime Analyzer installed: + +```bash ros2 run smacc2_rta smacc2_rta ``` -If you don't have the SMACC2 Runtime Analyzer click here +If you don't have the SMACC2 Runtime Analyzer, [click here](https://robosoft.ai/product-category/smacc2-runtime-analyzer/) + +## Learning Objectives + +This example teaches: +1. **Topic Subscription Pattern**: How SMACC2 clients can subscribe to ROS topics and post events +2. **Action Client Pattern**: How SMACC2 behaviors can interact with ROS action servers +3. **Event-Driven Transitions**: How external events trigger state machine transitions +4. **Orthogonal Architecture**: How multiple concurrent behaviors run in parallel +5. **Async Behaviors**: How long-running operations execute without blocking +6. **State Lifecycle**: Understanding staticConfigure(), runtimeConfigure(), onEntry(), onExit() diff --git a/smacc2_sm_reference_library/sm_simple_action_client/include/sm_simple_action_client/fibonacci_action_client/client_behaviors/cb_fibonacci.hpp b/smacc2_sm_reference_library/sm_simple_action_client/include/sm_simple_action_client/fibonacci_action_client/client_behaviors/cb_fibonacci.hpp index ed6a341ea..f030ea1b9 100644 --- a/smacc2_sm_reference_library/sm_simple_action_client/include/sm_simple_action_client/fibonacci_action_client/client_behaviors/cb_fibonacci.hpp +++ b/smacc2_sm_reference_library/sm_simple_action_client/include/sm_simple_action_client/fibonacci_action_client/client_behaviors/cb_fibonacci.hpp @@ -27,16 +27,16 @@ class CbFibonacci : public smacc2::SmaccAsyncClientBehavior // virtual ~CbFibonacci(); template - void onOrthogonalAllocation() + void onStateOrthogonalAllocation() { this->requiresClient(cl_fibonacci_); - smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation(); + smacc2::SmaccAsyncClientBehavior::onStateOrthogonalAllocation(); } void onEntry() override { ClFibonacci::Goal goal; - goal.order = 100; + goal.order = 10; fibonacciCallback_ = std::make_shared(); this->getStateMachine()->createSignalConnection( diff --git a/smacc2_sm_reference_library/sm_simple_action_client/include/sm_simple_action_client/mode_selection_client/cl_mode_select.hpp b/smacc2_sm_reference_library/sm_simple_action_client/include/sm_simple_action_client/mode_selection_client/cl_mode_select.hpp index c39e3050d..8b3a80f57 100644 --- a/smacc2_sm_reference_library/sm_simple_action_client/include/sm_simple_action_client/mode_selection_client/cl_mode_select.hpp +++ b/smacc2_sm_reference_library/sm_simple_action_client/include/sm_simple_action_client/mode_selection_client/cl_mode_select.hpp @@ -46,7 +46,7 @@ class ClModeSelect : public SmaccSubscriberClient("mode_command") {} template - void onOrthogonalAllocation() + void onStateOrthogonalAllocation() { post_autonomous_mode_event_ = [this]() { @@ -61,7 +61,7 @@ class ClModeSelect : public SmaccSubscriberClientpostEvent>(); }; - SmaccSubscriberClient::onOrthogonalAllocation< + SmaccSubscriberClient::onStateOrthogonalAllocation< TOrthogonal, TSourceObject>(); } diff --git a/smacc2_sm_reference_library/sm_simple_action_client/include/sm_simple_action_client/sm_simple_action_client.hpp b/smacc2_sm_reference_library/sm_simple_action_client/include/sm_simple_action_client/sm_simple_action_client.hpp index 4ab4af932..bf92e11dc 100644 --- a/smacc2_sm_reference_library/sm_simple_action_client/include/sm_simple_action_client/sm_simple_action_client.hpp +++ b/smacc2_sm_reference_library/sm_simple_action_client/include/sm_simple_action_client/sm_simple_action_client.hpp @@ -37,6 +37,7 @@ namespace robot_state_machine //STATES struct StState1; struct StState2; +struct StState3; //-------------------------------------------------------------------- //STATE_MACHINE @@ -56,3 +57,4 @@ struct SmSimpleActionClient : public smacc2::SmaccStateMachineBase //TRANSITION TABLE typedef mpl::list< smacc2::Transition, StState1, MANUAL_MODE>, - smacc2::Transition, StState2>, + smacc2::Transition, StState3>, smacc2::Transition, StState2> > reactions; @@ -49,7 +49,16 @@ struct StState2 : smacc2::SmaccState } void onEntry() - { + { + RCLCPP_INFO(getLogger(), " "); + RCLCPP_INFO(getLogger(), "╔════════════════════════════════════════════════════════════════╗"); + RCLCPP_INFO(getLogger(), "║ ENTERING StState2 - EXECUTING FIBONACCI ACTION ║"); + RCLCPP_INFO(getLogger(), "║ ║"); + RCLCPP_INFO(getLogger(), "║ Sending Fibonacci(order=10) goal to action server... ║"); + RCLCPP_INFO(getLogger(), "║ On success → transition to StState3 ║"); + RCLCPP_INFO(getLogger(), "║ On failure → stay in StState2 ║"); + RCLCPP_INFO(getLogger(), "╚════════════════════════════════════════════════════════════════╝"); + RCLCPP_INFO(getLogger(), " "); } }; diff --git a/smacc2_sm_reference_library/sm_simple_action_client/include/sm_simple_action_client/states/st_state_3.hpp b/smacc2_sm_reference_library/sm_simple_action_client/include/sm_simple_action_client/states/st_state_3.hpp new file mode 100644 index 000000000..77142eeea --- /dev/null +++ b/smacc2_sm_reference_library/sm_simple_action_client/include/sm_simple_action_client/states/st_state_3.hpp @@ -0,0 +1,62 @@ +// 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. + +#ifndef ROBOT_STATE_MACHINE__STATES__ST_STATE_3_HPP_ +#define ROBOT_STATE_MACHINE__STATES__ST_STATE_3_HPP_ + +#include "smacc2/smacc.hpp" + +namespace robot_state_machine +{ +// STATE DECLARATION +struct StState3 : smacc2::SmaccState +{ + using SmaccState::SmaccState; + + // Declare custom object tags + struct MANUAL_MODE : SUCCESS {}; + + // TRANSITION TABLE + typedef mpl::list< + smacc2::Transition, StState1, MANUAL_MODE> + > reactions; + + // State functions + static void staticConfigure() + { + configure_orthogonal(); + } + + void runtimeConfigure() {} + + void onEntry() + { + RCLCPP_INFO(getLogger(), " "); + RCLCPP_INFO(getLogger(), "╔════════════════════════════════════════════════════════════════╗"); + RCLCPP_INFO(getLogger(), "║ FIBONACCI ACTION COMPLETED SUCCESSFULLY! ║"); + RCLCPP_INFO(getLogger(), "║ ║"); + RCLCPP_INFO(getLogger(), "║ The state machine has reached StState3 ║"); + RCLCPP_INFO(getLogger(), "║ Fibonacci calculation completed. ║"); + RCLCPP_INFO(getLogger(), "║ ║"); + RCLCPP_INFO(getLogger(), "║ To return to StState1, publish: ║"); + RCLCPP_INFO(getLogger(), "║ ros2 topic pub /mode_command example_interfaces/msg/Int32 \\ ║"); + RCLCPP_INFO(getLogger(), "║ \"{data: 0}\" --once ║"); + RCLCPP_INFO(getLogger(), "╚════════════════════════════════════════════════════════════════╝"); + RCLCPP_INFO(getLogger(), " "); + } +}; + +} // namespace robot_state_machine + +#endif // ROBOT_STATE_MACHINE__STATES__ST_STATE_3_HPP_ diff --git a/smacc2_sm_reference_library/sm_simple_action_client/launch/sm_simple_action_client.launch b/smacc2_sm_reference_library/sm_simple_action_client/launch/sm_simple_action_client.launch deleted file mode 100644 index f48e8429c..000000000 --- a/smacc2_sm_reference_library/sm_simple_action_client/launch/sm_simple_action_client.launch +++ /dev/null @@ -1,5 +0,0 @@ - - - - - diff --git a/smacc2_sm_reference_library/sm_simple_action_client/launch/sm_simple_action_client.py b/smacc2_sm_reference_library/sm_simple_action_client/launch/sm_simple_action_client.py new file mode 100644 index 000000000..e37474671 --- /dev/null +++ b/smacc2_sm_reference_library/sm_simple_action_client/launch/sm_simple_action_client.py @@ -0,0 +1,120 @@ +# 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. + +import os +from datetime import datetime +from launch import LaunchDescription +from launch_ros.actions import Node +from launch.substitutions import PathJoinSubstitution +from launch_ros.substitutions import FindPackageShare + + +def setup_log_directory(): + """ + Creates timestamped log directory with error handling. + Returns: (log_dir_path, timestamp) tuple + """ + timestamp = datetime.now().strftime("%Y-%m-%d-%H-%M-%S") + + # Primary log directory location + log_dir = os.path.join( + os.path.expanduser("~"), ".ros", "log", f"{timestamp}-sm_simple_action_client" + ) + + try: + os.makedirs(log_dir, mode=0o755, exist_ok=True) + print(f"[Launch] Log directory created: {log_dir}") + return log_dir, timestamp + except PermissionError as e: + # Fallback to /tmp if ~/.ros is not writable + fallback_dir = os.path.join("/tmp", "sm_simple_action_client_logs", timestamp) + print(f"[Launch] WARNING: Cannot create log directory at {log_dir}") + print(f"[Launch] Permission denied: {e}") + print(f"[Launch] Using fallback directory: {fallback_dir}") + try: + os.makedirs(fallback_dir, mode=0o755, exist_ok=True) + return fallback_dir, timestamp + except Exception as fallback_error: + print(f"[Launch] ERROR: Cannot create fallback directory: {fallback_error}") + print(f"[Launch] Logs will only be displayed in konsole terminals") + return None, timestamp + except OSError as e: + print(f"[Launch] ERROR: Failed to create log directory: {e}") + print(f"[Launch] Logs will only be displayed in konsole terminals") + return None, timestamp + + +def generate_launch_description(): + # Setup logging directory + log_dir, timestamp = setup_log_directory() + + # Config file path + config_file = PathJoinSubstitution( + [ + FindPackageShare("sm_simple_action_client"), + "config", + "simple_action_client_example_config.yaml", + ] + ) + + # Construct logging prefix for Fibonacci action server + if log_dir: + fibonacci_log = os.path.join(log_dir, f"fibonacci_action_server_{timestamp}.log") + fibonacci_prefix = f"konsole --hold -p tabtitle='Fibonacci Action Server' -e bash -c 'RCUTILS_COLORIZED_OUTPUT=1 \"$@\" 2>&1 | tee {fibonacci_log}; exec bash' -- " + else: + fibonacci_prefix = "konsole --hold -p tabtitle='Fibonacci Action Server' -e" + + # Construct logging prefix for state machine node + if log_dir: + state_machine_log = os.path.join(log_dir, f"sm_simple_action_client_node_{timestamp}.log") + state_machine_prefix = f"konsole --hold -p tabtitle='SM Simple Action Client' -e bash -c 'RCUTILS_COLORIZED_OUTPUT=1 \"$@\" 2>&1 | tee {state_machine_log}; exec bash' -- " + else: + state_machine_prefix = "konsole --hold -p tabtitle='SM Simple Action Client' -e" + + # Construct logging prefix for auto-trigger node + if log_dir: + trigger_log = os.path.join(log_dir, f"auto_mode_trigger_{timestamp}.log") + trigger_prefix = f"konsole --hold -p tabtitle='Auto Mode Trigger' -e bash -c 'RCUTILS_COLORIZED_OUTPUT=1 \"$@\" 2>&1 | tee {trigger_log}; exec bash' -- " + else: + trigger_prefix = "konsole --hold -p tabtitle='Auto Mode Trigger' -e" + + return LaunchDescription( + [ + # Start Fibonacci action server + Node( + package="action_tutorials_cpp", + executable="fibonacci_action_server", + name="fibonacci_action_server", + output="screen", + prefix=fibonacci_prefix, + ), + # Start state machine + Node( + package="sm_simple_action_client", + executable="sm_simple_action_client_node", + name="sm_simple_action_client", + output="screen", + parameters=[config_file], + prefix=state_machine_prefix, + ), + # Auto-trigger autonomous mode after delay + Node( + package="sm_simple_action_client", + executable="auto_mode_trigger.py", + name="auto_mode_trigger", + output="screen", + prefix=trigger_prefix, + ), + ] + ) diff --git a/smacc2_sm_reference_library/sm_simple_action_client/package.xml b/smacc2_sm_reference_library/sm_simple_action_client/package.xml index 1f0204efa..dd8833f08 100644 --- a/smacc2_sm_reference_library/sm_simple_action_client/package.xml +++ b/smacc2_sm_reference_library/sm_simple_action_client/package.xml @@ -4,7 +4,7 @@ sm_simple_action_client 3.0.1 The sm_simple_action_client package - SMACC2 is cool + Brett Aldrich Apache-2.0 MyLicense diff --git a/smacc2_sm_reference_library/sm_simple_action_client/scripts/auto_mode_trigger.py b/smacc2_sm_reference_library/sm_simple_action_client/scripts/auto_mode_trigger.py new file mode 100755 index 000000000..523d7aec7 --- /dev/null +++ b/smacc2_sm_reference_library/sm_simple_action_client/scripts/auto_mode_trigger.py @@ -0,0 +1,81 @@ +#!/usr/bin/env python3 +# 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. + +""" +Auto-triggers the state machine transition for demo purposes. +Publishes autonomous mode command after a delay. +""" +import time +import rclpy +from rclpy.node import Node +from example_interfaces.msg import Int32 + + +class AutoModeTrigger(Node): + def __init__(self): + super().__init__("auto_mode_trigger") + self.publisher = self.create_publisher(Int32, "mode_command", 10) + + # Wait for state machine to initialize + self.get_logger().info( + "╔════════════════════════════════════════════════════════════════╗" + ) + self.get_logger().info("║ AUTO MODE TRIGGER - Waiting 3 seconds for SM initialization ║") + self.get_logger().info( + "╚════════════════════════════════════════════════════════════════╝" + ) + time.sleep(3.0) + + # Publish autonomous mode command + msg = Int32() + msg.data = 1 # Autonomous mode + self.publisher.publish(msg) + self.get_logger().info(" ") + self.get_logger().info( + "╔════════════════════════════════════════════════════════════════╗" + ) + self.get_logger().info( + "║ ✓ Published AUTONOMOUS mode command (data=1) ║" + ) + self.get_logger().info( + "║ State machine should transition: StState1 → StState2 ║" + ) + self.get_logger().info( + "╚════════════════════════════════════════════════════════════════╝" + ) + self.get_logger().info(" ") + + # Schedule shutdown after publishing + time.sleep(1.0) + self.get_logger().info("Auto-trigger complete. Node shutting down.") + # Create a timer to shutdown after allowing message to be sent + self.create_timer(0.5, lambda: rclpy.shutdown()) + + +def main(): + rclpy.init() + node = AutoModeTrigger() + try: + rclpy.spin(node) + except (KeyboardInterrupt, rclpy.executors.ExternalShutdownException): + pass + finally: + node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == "__main__": + main()