sti_fpattern_loop_start.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.
 
/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
 
namespace sm_dance_bot_warehouse
{
namespace f_pattern_states
{
// STATE DECLARATION
template <typename SS>
struct StiFPatternStartLoop : smacc2::SmaccState<StiFPatternStartLoop<SS>, SS>
{
  typedef SmaccState<StiFPatternStartLoop<SS>, SS> TSti;
  using TSti::context_type;
  using TSti::SmaccState;
 
  // TRANSITION TABLE
  typedef mpl::list<
 
    Transition<EvLoopContinue<StiFPatternStartLoop<SS>>, StiFPatternRotate1<SS>, CONTINUELOOP>
 
    >reactions;
 
  // STATE FUNCTIONS
  static void staticConfigure() {}
 
  bool loopCondition()
  {
    auto & superstate = TSti::template context<SS>();
    return superstate.iteration_count++ < superstate.total_iterations();
  }
 
  void onEntry()
  {
    TSti::checkWhileLoopConditionAndThrowEvent(&StiFPatternStartLoop<SS>::loopCondition);
  }
};
}  // namespace f_pattern_states
}  // namespace sm_dance_bot_warehouse