.. _program_listing_file_include_smacc2_smacc_transition.hpp:

Program Listing for File smacc_transition.hpp
=============================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_smacc2_smacc_transition.hpp>` (``include/smacc2/smacc_transition.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 RobosoftAI Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   /*****************************************************************************************************************
    *
    *   Authors: Pablo Inigo Blasco, Brett Aldrich
    *
    ******************************************************************************************************************/
   
   #pragma once
   
   #include <smacc2/introspection/introspection.hpp>
   #include <smacc2/introspection/state_traits.hpp>
   namespace smacc2
   {
   template <
     class Event, class Destination, typename Tag, class TransitionContext,
     void (TransitionContext::*pTransitionAction)(const Event &)>
   class Transition
   {
   public:
     typedef Tag TRANSITION_TAG;
   
   private:
     template <class State>
     struct reactions
     {
       static boost::statechart::result react_without_action(State & stt)
       {
         RCLCPP_DEBUG(stt.getLogger(), "[Smacc Transition] REACT WITHOUT ACTION");
         typedef smacc2::Transition<Event, Destination, Tag, TransitionContext, pTransitionAction>
           Transtype;
         TRANSITION_TAG mock;
         specificNamedOnExit(stt, mock);
   
         stt.template notifyTransition<Transtype>();
         return stt.template transit<Destination>();
       }
   
       static boost::statechart::result react_with_action(State & stt, const Event & evt)
       {
         RCLCPP_DEBUG(stt.getLogger(), "[Smacc Transition] REACT WITH ACTION AND EVENT");
         typedef smacc2::Transition<Event, Destination, Tag, TransitionContext, pTransitionAction>
           Transtype;
         TRANSITION_TAG mock;
         specificNamedOnExit(stt, mock);
         stt.template notifyTransition<Transtype>();
         return stt.template transit<Destination>(pTransitionAction, evt);
       }
     };
   
   public:
     // The following declarations should be private.
     // They are only public because many compilers lack template friends.
     template <class State, class EventBase, class IdType>
     static boost::statechart::detail::reaction_result react(
       State & stt, const EventBase & evt, const IdType & eventType)
     {
       typedef boost::statechart::detail::reaction_dispatcher<
         reactions<State>, State, EventBase, Event, TransitionContext, IdType>
         dispatcher;
       return dispatcher::react(stt, evt, eventType);
     }
   };
   }  // namespace smacc2