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Introduced State Machine and startup state
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‎lib/ConvoyLeader/src/App.cpp

+10
Original file line numberDiff line numberDiff line change
@@ -41,6 +41,7 @@
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#include <ArduinoJson.h>
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#include <WiFi.h>
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#include <Util.h>
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#include "StartupState.h"
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/******************************************************************************
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* Compiler Switches
@@ -169,14 +170,19 @@ void App::setup()
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}
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else
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{
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/* Setup longitudinal controller. */
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LongitudinalController::MotorSetpointCallback motorSetpointCallback = [this](const int16_t& topCenterSpeed)
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{ return this->motorSetpointCallback(topCenterSpeed); };
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m_longitudinalController.setMotorSetpointCallback(motorSetpointCallback);
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/* Initialize timers. */
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m_sendWaypointTimer.start(SEND_WAYPOINT_TIMER_INTERVAL);
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m_initialCommandTimer.start(SEND_WAYPOINT_TIMER_INTERVAL);
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/* Start with startup state. */
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m_systemStateMachine.setState(&StartupState::getInstance());
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isSuccessful = true;
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}
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}
@@ -216,6 +222,10 @@ void App::loop()
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/* Process Longitudinal Controller */
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m_longitudinalController.process();
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/* Process System State Machine */
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m_systemStateMachine.process();
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/* Process periodic tasks. */
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if (true == m_initialCommandTimer.isTimeout())
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{
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if (false == m_receivedMaxMotorSpeed)

‎lib/ConvoyLeader/src/App.h

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@@ -187,6 +187,9 @@ class App
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*/
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V2VClient m_v2vClient;
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/** The system state machine. */
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StateMachine m_systemStateMachine;
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/**
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* Flag for setting initial position through SMP.
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*/

‎lib/ConvoyLeader/src/StartupState.cpp

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@@ -0,0 +1,91 @@
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/* MIT License
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*
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* Copyright (c) 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 Startup 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 "StartupState.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 StartupState::entry()
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{
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/* Nothing to do */
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}
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void StartupState::process(StateMachine& sm)
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{
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/* Nothing to do */
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}
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void StartupState::exit()
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{
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/* Nothing to do */
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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/StartupState.h

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@@ -0,0 +1,117 @@
1+
/* MIT License
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*
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* Copyright (c) 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
9+
* copies of the Software, and to permit persons to whom the Software is
10+
* furnished to do so, subject to the following conditions:
11+
*
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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 Startup 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 STARTUP_STATE_H
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#define STARTUP_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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/******************************************************************************
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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 startup state. */
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class StartupState : 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 StartupState& getInstance()
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{
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static StartupState instance;
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/* Singleton idiom to force initialization during 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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/**
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* Default constructor.
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*/
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StartupState()
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{
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}
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/**
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* Default destructor.
102+
*/
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virtual ~StartupState()
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{
105+
}
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/* Not allowed. */
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StartupState(const StartupState& state); /**< Copy construction of an instance. */
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StartupState& operator=(const StartupState& 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 /* STARTUP_STATE_H */
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/** @} */

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