SMACC2
sti_mode_5_sequence_b_loop.hpp
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1// Copyright 2021 RobosoftAI Inc.
2//
3// Licensed under the Apache License, Version 2.0 (the "License");
4// you may not use this file except in compliance with the License.
5// You may obtain a copy of the License at
6//
7// http://www.apache.org/licenses/LICENSE-2.0
8//
9// Unless required by applicable law or agreed to in writing, software
10// distributed under the License is distributed on an "AS IS" BASIS,
11// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12// See the License for the specific language governing permissions and
13// limitations under the License.
14
15namespace sm_multi_stage_1
16{
17namespace mode_5_sequence_b
18{
19// STATE DECLARATION
20struct StiMode5SequenceBLoop : smacc2::SmaccState<StiMode5SequenceBLoop, SsMode5SequenceB>
21{
22public:
23 using SmaccState::SmaccState;
24
25 // TRANSITION TABLE
26 typedef mpl::list<
27
28 Transition<EvLoopContinue<StiMode5SequenceBLoop>, StiMode5SequenceBStep1, CONTINUELOOP>
29
31
32 // STATE FUNCTIONS
33 static void staticConfigure() {}
34
36
38 {
39 auto & superstate = this->context<SsMode5SequenceB>();
40
41 RCLCPP_INFO(
42 getLogger(), "Loop start, current iterations: %d, total iterations: %d",
43 superstate.iteration_count, superstate.total_iterations());
44 return superstate.iteration_count++ < superstate.total_iterations();
45 }
46
47 void onEntry()
48 {
49 RCLCPP_INFO(getLogger(), "LOOP START ON ENTRY");
51 }
52};
53} // namespace mode_1_sequence_b
54} // namespace sm_multi_stage_1
rclcpp::Logger getLogger()
Definition: smacc_state.hpp:36
void checkWhileLoopConditionAndThrowEvent(bool(MostDerived::*conditionFn)())
mpl::list< Transition< EvLoopContinue< StiMode5SequenceBLoop >, StiMode5SequenceBStep1, CONTINUELOOP > > reactions