.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_pack_ml_include_sm_pack_ml_states_suspending_sequence_a_loop.hpp:

Program Listing for File suspending_sequence_a_loop.hpp
=======================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_pack_ml_include_sm_pack_ml_states_suspending_sequence_a_loop.hpp>` (``/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_pack_ml/include/sm_pack_ml/states/suspending_sequence_a_loop.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // 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_pack_ml
   {
   
   // STATE DECLARATION
   struct SuspendingSequenceALoop : smacc2::SmaccState<SuspendingSequenceALoop, MsSuspending>
   {
   public:
     using SmaccState::SmaccState;
   
     // TRANSITION TABLE
     typedef mpl::list<
   
        Transition<EvLoopContinue<SuspendingSequenceALoop>, SsSuspendingSequenceA, CONTINUELOOP>
   
       >reactions;
   
     // STATE FUNCTIONS
     static void staticConfigure() {}
   
     void runtimeConfigure() {}
   
     bool loopWhileCondition()
     {
       auto & superstate = this->context<MsSuspending>();
   
       RCLCPP_INFO(
         getLogger(), "Loop start, current iterations: %d, total iterations: %d",
         superstate.ziteration_count, superstate.ztotal_iterations());
       return superstate.ziteration_count++ < superstate.ztotal_iterations();
     }
   
     void onEntry()
     {
       RCLCPP_INFO(getLogger(), "LOOP START ON ENTRY");
       checkWhileLoopConditionAndThrowEvent(&SuspendingSequenceALoop::loopWhileCondition);
     }
   };
   }  // namespace sm_pack_ml