pick_place_states_actions.h

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#pragma once
#include <aerial_autonomy/actions_guards/arm_functors.h>
#include <aerial_autonomy/actions_guards/pick_place_functors.h>
#include <aerial_autonomy/actions_guards/visual_servoing_states_actions.h>
#include <aerial_autonomy/arm_events.h>
#include <boost/msm/front/euml/operator.hpp>
#include <boost/msm/front/functor_row.hpp>

template <class LogicStateMachineT>
struct PickPlaceStatesActions
    : VisualServoingStatesActions<LogicStateMachineT> {

  template <class Sequence>
  using bActionSequence = boost::msm::front::ActionSequence_<Sequence>;
  template <class G1, class G2>
  using bAnd = boost::msm::front::euml::And_<G1, G2>;

  using vsa = VisualServoingStatesActions<LogicStateMachineT>;
  using usa = UAVStatesActions<LogicStateMachineT>;

  // Pre takeoff, land states
  using ArmFolding = ArmFolding_<LogicStateMachineT>;
  using ArmPreTakeoffFolding = ArmPreTakeoffFolding_<LogicStateMachineT>;
  using ArmPreLandingFolding = ArmPreLandingFolding_<LogicStateMachineT>;
  // PickPlace State
  using PickState = PickState_<LogicStateMachineT>;
  // PrePickPlace State
  using PrePickState = PrePickState_<LogicStateMachineT>;
  // Transition Actions
  using ArmPowerOn = ArmPoweronTransitionActionFunctor_<LogicStateMachineT>;
  using ArmPowerOff = ArmPoweroffTransitionActionFunctor_<LogicStateMachineT>;
  using ArmFold = ArmFoldTransitionActionFunctor_<LogicStateMachineT>;
  using ArmRightFold = ArmRightFoldTransitionActionFunctor_<LogicStateMachineT>;
  using AbortArmController = AbortArmController_<LogicStateMachineT>;
  using AbortUAVControllerArmRightFold = bActionSequence<
      boost::mpl::vector<typename usa::UAVControllerAbort, ArmRightFold>>;
  using AbortUAVControllerArmFold = bActionSequence<
      boost::mpl::vector<typename usa::UAVControllerAbort, ArmFold>>;
  using PickTransitionAction = bActionSequence<boost::mpl::vector<
      typename vsa::VisualServoingTransitionAction,
      VisualServoingArmTransitionActionFunctor_<LogicStateMachineT, 1>>>;
  using PrePickTransitionAction = bActionSequence<boost::mpl::vector<
      typename vsa::VisualServoingTransitionAction,
      VisualServoingArmTransitionActionFunctor_<LogicStateMachineT, 0>>>;
  using ArmPowerOnFold =
      bActionSequence<boost::mpl::vector<ArmPowerOn, ArmFold>>;
  using AbortUAVArmController = bActionSequence<
      boost::mpl::vector<typename usa::UAVControllerAbort, AbortArmController>>;
  // Guards
  using PickTransitionGuard = bAnd<typename vsa::VisualServoingTransitionGuard,
                                   ArmEnabledGuardFunctor_<LogicStateMachineT>>;
  using PickGuard = PickGuard_<LogicStateMachineT>;
  // Explicitly defined manual Control state
  struct ManualControlArmState : public msmf::state<> {
    struct internal_transition_table
        : boost::mpl::vector<
              msmf::Internal<
                  InternalTransitionEvent,
                  ManualControlArmInternalActionFunctor_<LogicStateMachineT>,
                  msmf::none>,
              msmf::Internal<arm_events::PowerOn, ArmPowerOn, msmf::none>,
              msmf::Internal<arm_events::PowerOff, ArmPowerOff, msmf::none>,
              msmf::Internal<arm_events::Fold, ArmFold, msmf::none>,
              msmf::Internal<uav_basic_events::Abort, msmf::none, msmf::none>,
              msmf::Internal<arm_events::RightAngleFold, ArmRightFold,
                             msmf::none>> {};
  };
};