step.logic.defer
================

.. py:module:: step.logic.defer


Classes
-------

.. autoapisummary::

   step.logic.defer.Defer
   step.logic.defer.Run


Module Contents
---------------

.. py:class:: Defer(factory: Callable[[raccoon.robot.api.GenericRobot], step.Step])

   Bases: :py:obj:`step.Step`


   Defer step construction until execution time.

   Wraps a factory callable that receives the robot instance and returns
   a step. The factory is called when the ``Defer`` step executes, not
   when the step tree is built. This allows steps to depend on runtime
   values such as sensor readings, odometry data, or results computed by
   earlier steps in a sequence.

   :param factory: A callable that takes a ``GenericRobot`` and returns a
                   ``Step`` to execute. Called exactly once when the deferred
                   step runs.

   Example::

       from raccoon.step.logic import defer

       # Turn by an angle computed from a sensor reading at runtime
       seq([
           scan_step,
           defer(lambda robot: turn_left(
               compute_angle_from_scan(robot)
           )),
       ])


   .. py:attribute:: factory


.. py:class:: Run(action: Callable[[raccoon.robot.api.GenericRobot], Union[None, Awaitable[None]]])

   Bases: :py:obj:`step.Step`


   Execute an arbitrary callable as a step.

   Wraps a sync or async callable so it can be used inline in a step
   sequence. This is useful for one-off side effects, logging,
   variable assignments, or any imperative code that does not warrant
   its own step class. The callable receives the robot instance and
   its return value is ignored (unless it returns an awaitable, which
   is then awaited).

   :param action: A callable that takes a ``GenericRobot`` and optionally
                  returns an awaitable. Sync and async callables are both
                  supported.

   Example::

       from raccoon.step.logic import run

       # Log the current heading between two drive steps
       seq([
           drive_forward(25),
           run(lambda robot: print(f"Heading: {robot.odometry.get_heading()}")),
           drive_forward(25),
       ])


   .. py:attribute:: action