Program Listing for File sti_spattern_loop_start.hpp
↰ Return to documentation for file (/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_dance_bot/include/sm_dance_bot/states/s_pattern_states/sti_spattern_loop_start.hpp
)
// 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
{
namespace s_pattern_states
{
template <class TDerived, typename TContext>
struct B : smacc2::SmaccState<TDerived, TContext>
{
public:
using SmaccState<TDerived, TContext>::SmaccState;
//typedef typename TDerived::reactions reactions;
};
// STATE DECLARATION
struct StiSPatternLoopStart : public B<StiSPatternLoopStart, SS>
{
using B::B;
// TRANSITION TABLE
typedef mpl::list<
Transition<EvLoopContinue<StiSPatternLoopStart>, StiSPatternRotate1, CONTINUELOOP>
>reactions;
// STATE FUNCTIONS
static void staticConfigure() {}
void runtimeConfigure() {}
bool loopCondition()
{
auto & superstate = this->context<SS>();
return superstate.iteration_count++ < superstate.total_iterations();
}
void onEntry() { checkWhileLoopConditionAndThrowEvent(&StiSPatternLoopStart::loopCondition); }
};
} // namespace s_pattern_states
} // namespace sm_dance_bot