step.logic.loop¶

Classes¶

`LoopForever`	Repeat a step indefinitely until externally cancelled.
`LoopFor`	Repeat a step a fixed number of times.

Module Contents¶

class step.logic.loop.LoopForever(step: step.StepProtocol)¶

Bases: 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).

Parameters:: 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))

step¶

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.

class step.logic.loop.LoopFor(step: step.StepProtocol, iterations: int)¶

Bases: 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.

Parameters:

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