SMACC2
smacc2_sm_reference_library
sm_dance_bot
include
sm_dance_bot
states
s_pattern_states
sti_spattern_loop_start.hpp
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// Copyright 2021 RobosoftAI Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/*****************************************************************************************************************
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*
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* Authors: Pablo Inigo Blasco, Brett Aldrich
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*
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******************************************************************************************************************/
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namespace
sm_dance_bot
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{
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namespace
s_pattern_states
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{
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template
<
class
TDerived,
typename
TContext>
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struct
B
:
smacc2::SmaccState
<TDerived, TContext>
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{
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public
:
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using
SmaccState
<TDerived,
TContext
>
::SmaccState
;
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//typedef typename TDerived::reactions reactions;
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};
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// STATE DECLARATION
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struct
StiSPatternLoopStart
:
public
B
<StiSPatternLoopStart, SS>
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{
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using
B::B;
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// TRANSITION TABLE
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typedef
mpl::list<
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Transition<EvLoopContinue<StiSPatternLoopStart>,
StiSPatternRotate1
,
CONTINUELOOP
>
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>
reactions
;
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// STATE FUNCTIONS
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static
void
staticConfigure
() {}
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void
runtimeConfigure
() {}
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bool
loopCondition
()
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{
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auto
& superstate = this->context<SS>();
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return
superstate.iteration_count++ < superstate.total_iterations();
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}
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void
onEntry
() {
checkWhileLoopConditionAndThrowEvent
(&
StiSPatternLoopStart::loopCondition
); }
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};
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}
// namespace s_pattern_states
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}
// namespace sm_dance_bot
smacc2::SmaccState
Definition:
smacc_state_base.hpp:41
smacc2::SmaccState< StiSPatternLoopStart, SS >::checkWhileLoopConditionAndThrowEvent
void checkWhileLoopConditionAndThrowEvent(bool(MostDerived::*conditionFn)())
Definition:
smacc_state_base.hpp:321
smacc2::SmaccState< TDerived, TContext >::TContext
TContext TContext
Definition:
smacc_state_base.hpp:45
smacc2::SmaccState< TDerived, TContext >::SmaccState
SmaccState()=delete
sm_dance_bot
Definition:
cl_led.hpp:27
sm_dance_bot::s_pattern_states::B
Definition:
sti_spattern_loop_start.hpp:27
sm_dance_bot::s_pattern_states::StiSPatternLoopStart
Definition:
sti_spattern_loop_start.hpp:35
sm_dance_bot::s_pattern_states::StiSPatternLoopStart::onEntry
void onEntry()
Definition:
sti_spattern_loop_start.hpp:56
sm_dance_bot::s_pattern_states::StiSPatternLoopStart::reactions
mpl::list< Transition< EvLoopContinue< StiSPatternLoopStart >, StiSPatternRotate1, CONTINUELOOP > > reactions
Definition:
sti_spattern_loop_start.hpp:43
sm_dance_bot::s_pattern_states::StiSPatternLoopStart::loopCondition
bool loopCondition()
Definition:
sti_spattern_loop_start.hpp:50
sm_dance_bot::s_pattern_states::StiSPatternLoopStart::runtimeConfigure
void runtimeConfigure()
Definition:
sti_spattern_loop_start.hpp:48
sm_dance_bot::s_pattern_states::StiSPatternLoopStart::staticConfigure
static void staticConfigure()
Definition:
sti_spattern_loop_start.hpp:46
sm_dance_bot::s_pattern_states::StiSPatternRotate1
Definition:
sti_spattern_rotate_1.hpp:27
smacc2::default_transition_tags::CONTINUELOOP
Definition:
smacc_types.hpp:90
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