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gabryelreyesgabryelreyes
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Added Error State
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4 files changed

+227
-0
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4 files changed

+227
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‎lib/ConvoyLeader/src/App.cpp

+7
Original file line numberDiff line numberDiff line change
@@ -44,6 +44,7 @@
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#include "StartupState.h"
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#include "IdleState.h"
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#include "DrivingState.h"
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#include "ErrorState.h"
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/******************************************************************************
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* Compiler Switches
@@ -227,6 +228,11 @@ void App::setLatestVehicleData(const Waypoint& waypoint)
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m_latestVehicleData = waypoint;
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}
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void App::setErrorState()
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{
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m_systemStateMachine.setState(&ErrorState::getInstance());
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}
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/******************************************************************************
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* Protected Methods
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*****************************************************************************/
@@ -373,6 +379,7 @@ void App_cmdRspChannelCallback(const uint8_t* payload, const uint8_t payloadSize
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if (RemoteControl::RSP_ID_ERROR == cmdRsp->responseId)
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{
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/* Go to error state. */
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application->setErrorState();
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}
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else if (RemoteControl::CMD_ID_GET_MAX_SPEED == cmdRsp->commandId)
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{

‎lib/ConvoyLeader/src/App.h

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@@ -100,6 +100,11 @@ class App
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*/
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void setLatestVehicleData(const Waypoint& waypoint);
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/**
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* Set error state.
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*/
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void setErrorState();
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private:
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/** Minimum battery level in percent. */
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static const uint8_t MIN_BATTERY_LEVEL = 10U;

‎lib/ConvoyLeader/src/ErrorState.cpp

+93
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@@ -0,0 +1,93 @@
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/* MIT License
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*
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* Copyright (c) 2023 - 2024 Andreas Merkle <web@blue-andi.de>
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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/*******************************************************************************
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DESCRIPTION
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*******************************************************************************/
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/**
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* @brief Error State.
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* @author Gabryel Reyes <gabryelrdiaz@gmail.com>
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*/
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/******************************************************************************
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* Includes
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*****************************************************************************/
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#include "ErrorState.h"
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#include <Util.h>
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/******************************************************************************
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* Compiler Switches
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*****************************************************************************/
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/******************************************************************************
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* Macros
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*****************************************************************************/
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/******************************************************************************
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* Types and classes
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*****************************************************************************/
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/******************************************************************************
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* Prototypes
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*****************************************************************************/
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/******************************************************************************
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* Local Variables
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*****************************************************************************/
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/******************************************************************************
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* Public Methods
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*****************************************************************************/
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void ErrorState::entry()
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{
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m_isActive = true;
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m_releaseRequested = false;
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}
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void ErrorState::process(StateMachine& sm)
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{
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UTIL_NOT_USED(sm);
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}
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void ErrorState::exit()
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{
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m_isActive = false;
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}
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/******************************************************************************
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* Protected Methods
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*****************************************************************************/
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/******************************************************************************
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* Private Methods
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*****************************************************************************/
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/******************************************************************************
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* External Functions
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*****************************************************************************/
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/******************************************************************************
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* Local Functions
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*****************************************************************************/

‎lib/ConvoyLeader/src/ErrorState.h

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@@ -0,0 +1,122 @@
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/* MIT License
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*
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* Copyright (c) 2023 - 2024 Andreas Merkle <web@blue-andi.de>
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
6+
* of this software and associated documentation files (the "Software"), to deal
7+
* in the Software without restriction, including without limitation the rights
8+
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
10+
* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
13+
* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16+
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17+
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18+
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19+
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20+
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21+
* SOFTWARE.
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*/
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/*******************************************************************************
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DESCRIPTION
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*******************************************************************************/
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/**
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* @brief Error State.
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* @author Gabryel Reyes <gabryelrdiaz@gmail.com>
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*
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* @addtogroup Application
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*
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* @{
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*/
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#ifndef ERROR_STATE_H
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#define ERROR_STATE_H
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/******************************************************************************
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* Compile Switches
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*****************************************************************************/
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/******************************************************************************
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* Includes
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*****************************************************************************/
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#include <IState.h>
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#include <StateMachine.h>
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/******************************************************************************
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* Macros
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*****************************************************************************/
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/******************************************************************************
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* Types and Classes
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*****************************************************************************/
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/** The system error state. */
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class ErrorState : public IState
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{
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public:
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/**
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* Get state instance.
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*
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* @return State instance
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*/
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static ErrorState& getInstance()
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{
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static ErrorState instance; /* singleton idiom to force initialization in the first usage. */
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return instance;
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}
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/**
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* If the state is entered, this method will called once.
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*/
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void entry() final;
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/**
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* Processing the state.
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*
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* @param[in] sm State machine, which is calling this state.
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*/
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void process(StateMachine& sm) final;
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/**
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* If the state is left, this method will be called once.
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*/
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void exit() final;
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protected:
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private:
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/** Flag: State is active. */
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bool m_isActive;
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/** Flag: Release is requested. */
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bool m_releaseRequested;
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/**
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* Default constructor.
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*/
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ErrorState() : IState(), m_isActive(false)
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{
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}
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/**
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* Default destructor.
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*/
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virtual ~ErrorState()
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{
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}
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/* Not allowed. */
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ErrorState(const ErrorState& state); /**< Copy construction of an instance. */
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ErrorState& operator=(const ErrorState& state); /**< Assignment of an instance. */
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};
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/******************************************************************************
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* Functions
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*****************************************************************************/
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#endif /* ERROR_STATE_H */
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/** @} */

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