Program Listing for File sti_mode_5_sequence_a_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
{
namespace mode_5_sequence_a
{
// STATE DECLARATION
struct StiMode5SequenceALoop : smacc2::SmaccState<StiMode5SequenceALoop, SsMode5SequenceA>
{
public:
using SmaccState::SmaccState;
// TRANSITION TABLE
typedef mpl::list<
Transition<EvLoopContinue<StiMode5SequenceALoop>, StiMode5SequenceAStep1, CONTINUELOOP>
>reactions;
// STATE FUNCTIONS
static void staticConfigure() {}
void runtimeConfigure() {}
bool loopWhileCondition()
{
auto & superstate = this->context<SsMode5SequenceA>();
RCLCPP_INFO(
getLogger(), "Loop start, current iterations: %d, total iterations: %d",
superstate.iteration_count, superstate.total_iterations());
return superstate.iteration_count++ < superstate.total_iterations();
}
void onEntry()
{
RCLCPP_INFO(getLogger(), "LOOP START ON ENTRY");
checkWhileLoopConditionAndThrowEvent(&StiMode5SequenceALoop::loopWhileCondition);
}
};
} // namespace mode_1_sequence_a
} // namespace sm_multi_stage_1