From 9a75aac88d8dff3220a2832ac1178b11ff6eca3f Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 20 Oct 2022 14:32:23 +0900 Subject: [PATCH] add exec-smach-userdata-hook in sample --- roseus_smach/sample/state-machine-ros-sample.l | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/roseus_smach/sample/state-machine-ros-sample.l b/roseus_smach/sample/state-machine-ros-sample.l index f6b24e39e..92beb98da 100755 --- a/roseus_smach/sample/state-machine-ros-sample.l +++ b/roseus_smach/sample/state-machine-ros-sample.l @@ -46,5 +46,13 @@ (defun exec-smach-simple () (setq count 0) (exec-state-machine (smach-simple))) (defun exec-smach-nested () (setq count 0) (exec-state-machine (smach-nested))) (defun exec-smach-userdata () (exec-state-machine (smach-userdata) '((count . 1)))) - -(warn ";;(exec-smach-simple)~%;;(exec-smach-nested)~%;;(exec-smach-userdata)~%") +(defun exec-smach-userdata-hook () + (exec-state-machine + (smach-userdata) '((count . 1)) + :before-hook-func + #'(lambda (userdata) (ros::ros-warn (format nil "userdata (before): ~A" userdata))) + :after-hook-func + #'(lambda (userdata) (ros::ros-warn (format nil "userdata (after): ~A" userdata))) + )) + +(warn ";;(exec-smach-simple)~%;;(exec-smach-nested)~%;;(exec-smach-userdata)~%;;(exec-smach-userdata-hook)~%")