text: // 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
   *
   ******************************************************************************************************************/
  
  namespace sm_dance_bot_strikes_back
  {
  namespace radial_motion_states
  {
  // STATE DECLARATION
  struct StiRadialEndPoint : smacc2::SmaccState<StiRadialEndPoint, SS>
  {
    using SmaccState::SmaccState;
  
    // TRANSITION TABLE
    typedef mpl::list<
  
      Transition<EvCbSuccess<CbNavigateForward, OrNavigation>, StiRadialReturn, SUCCESS>,
      Transition<EvCbFailure<CbNavigateForward, OrNavigation>, StiRadialReturn, ABORT>
  
      >reactions;
  
    // STATE FUNCTIONS
    static void staticConfigure()
    {
      //RCLCPP_INFO(getLogger(),"ssr radial end point, distance in meters: %lf", SS::ray_length_meters());
      configure_orthogonal<OrNavigation, CbNavigateForward>(SS::ray_length_meters());
      configure_orthogonal<OrNavigation, CbPauseSlam>();
      configure_orthogonal<OrLED, CbLEDOn>();
    }
  
    void runtimeConfigure()
    {
      cl_lidar::ClLidarSensor * lidarClient;
      this->requiresClient(lidarClient);
  
      auto lidarData = lidarClient->getComponent<CpLidarSensorData>();
  
      auto forwardBehavior =
        this->getOrthogonal<OrNavigation>()->getClientBehavior<CbNavigateForward>();
  
      forwardBehavior->setForwardDistance(std::min(lidarData->forwardObstacleDistance, 6.0f)); // at most 15 meters
    }
  };
  }  // namespace radial_motion_states
  }  // namespace sm_dance_bot_strikes_back
  