Program Listing for File mode_2_sequence_b_loop.hpp
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// 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.
namespace sm_multi_stage_1
{
// STATE DECLARATION
struct Mode2SequenceBLoop : smacc2::SmaccState<Mode2SequenceBLoop, MsMode2>
{
public:
using SmaccState::SmaccState;
// TRANSITION TABLE
typedef mpl::list<
Transition<EvLoopContinue<Mode2SequenceBLoop>, SsMode2SequenceB, CONTINUELOOP>
>reactions;
// STATE FUNCTIONS
static void staticConfigure() {}
void runtimeConfigure() {}
bool loopWhileCondition()
{
auto & superstate = this->context<MsMode2>();
RCLCPP_INFO(
getLogger(), "Loop start, current iterations: %d, total iterations: %d",
superstate.yiteration_count, superstate.ytotal_iterations());
return superstate.yiteration_count++ < superstate.ytotal_iterations();
}
void onEntry()
{
RCLCPP_INFO(getLogger(), "LOOP START ON ENTRY");
checkWhileLoopConditionAndThrowEvent(&Mode2SequenceBLoop::loopWhileCondition);
}
};
} // namespace sm_multi_stage_1