step.logic.loop
===============

.. py:module:: step.logic.loop


Classes
-------

.. autoapisummary::

   step.logic.loop.LoopForever
   step.logic.loop.LoopFor


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

.. py:class:: LoopForever(step: step.StepProtocol)

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


   Repeat a step indefinitely until externally cancelled.

   Wraps the given step in an infinite loop. Each iteration awaits the
   child step to completion before starting the next. The loop only
   terminates when the enclosing context cancels it (e.g. via
   ``do_while_active`` or ``do_until_checkpoint``).

   :param step: The step to execute repeatedly. Must satisfy ``StepProtocol``.

   Example::

       from raccoon.step.logic import loop_forever
       from raccoon.step.timing import do_until_checkpoint

       # Continuously toggle a motor on and off until T=30s
       toggle = seq([
           motor_power(robot.motor(0), 100),
           wait(0.5),
           motor_off(robot.motor(0)),
           wait(0.5),
       ])
       do_until_checkpoint(30.0, loop_forever(toggle))


   .. py:attribute:: step


   .. py:method:: collected_resources() -> frozenset[str]

      Return all resources this step *and its children* require.

      Used by ``validate_no_overlap`` for static conflict detection at
      construction time.  Leaf steps don't need to override this — the
      default delegates to ``required_resources``.  Composite steps
      override to union their children's collected resources.



.. py:class:: LoopFor(step: step.StepProtocol, iterations: int)

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


   Repeat a step a fixed number of times.

   Wraps the given step in a counted loop. Each iteration awaits the
   child step to completion before starting the next. After all
   iterations complete, the step finishes normally.

   :param step: The step to execute repeatedly. Must satisfy ``StepProtocol``.
   :param iterations: Number of times to run the step. Must be a positive
                      integer.

   Example::

       from raccoon.step.logic import loop_for

       # Drive forward and back 3 times
       loop_for(seq([drive_forward(20), drive_backward(20)]), iterations=3)


   .. py:attribute:: step


   .. py:attribute:: iterations


   .. py:method:: collected_resources() -> frozenset[str]

      Return all resources this step *and its children* require.

      Used by ``validate_no_overlap`` for static conflict detection at
      construction time.  Leaf steps don't need to override this — the
      default delegates to ``required_resources``.  Composite steps
      override to union their children's collected resources.