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2.5.0 #92

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Jan 1, 2024
Merged

2.5.0 #92

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4827ef9
2.5.0
andrew-gresyk Jan 1, 2024
a1557a7
Removed duplicate alias in `O_<>`
andrew-gresyk Jan 1, 2024
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28 changes: 14 additions & 14 deletions development/hfsm2/detail/config.hpp
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Expand Up @@ -32,10 +32,6 @@ struct G_ final {
using RNG = TRNG;
#endif

#if HFSM2_LOG_INTERFACE_AVAILABLE()
using LoggerInterface = LoggerInterfaceT<FEATURE_TAG, Context HFSM2_IF_UTILITY_THEORY(, Utility)>;
#endif

static constexpr Short SUBSTITUTION_LIMIT = NSubstitutionLimit;

#if HFSM2_PLANS_AVAILABLE()
Expand All @@ -49,8 +45,12 @@ struct G_ final {
using Task = TaskT<Payload>;
#endif

#if HFSM2_LOG_INTERFACE_AVAILABLE()
using LoggerInterface = LoggerInterfaceT<FEATURE_TAG, Context HFSM2_IF_UTILITY_THEORY(, Utility)>;
#endif

/// @brief Set Context type
/// @tparam T Context type for data shared between states and/or data interface between FSM and external code
/// @tparam `T` Context type for data shared between states and/or data interface between FSM and external code
template <typename T>
using ContextT = G_<FEATURE_TAG, T , Activation, ReactOrder HFSM2_IF_UTILITY_THEORY(, Rank, Utility, RNG), SUBSTITUTION_LIMIT HFSM2_IF_PLANS(, TASK_CAPACITY), Payload>;

Expand All @@ -63,38 +63,38 @@ struct G_ final {
#if HFSM2_UTILITY_THEORY_AVAILABLE()

/// @brief Set Rank type
/// @tparam T Rank type for 'TRank State::rank() const' method
/// @tparam `T` Rank type for 'TRank State::rank() const' method
template <typename T>
using RankT = G_<FEATURE_TAG, Context, Activation, ReactOrder , T , Utility, RNG , SUBSTITUTION_LIMIT HFSM2_IF_PLANS(, TASK_CAPACITY), Payload>;

/// @brief Set Utility type
/// @tparam T Utility type for 'TUtility State::utility() const' method
/// @tparam `T` Utility type for 'TUtility State::utility() const' method
template <typename T>
using UtilityT = G_<FEATURE_TAG, Context, Activation, ReactOrder , Rank, T , RNG , SUBSTITUTION_LIMIT HFSM2_IF_PLANS(, TASK_CAPACITY), Payload>;

/// @brief Set RNG type
/// @tparam T RNG type used in 'Random' regions
/// @tparam `T` RNG type used in 'Random' regions
template <typename T>
using RandomT = G_<FEATURE_TAG, Context, Activation, ReactOrder , Rank, Utility, T , SUBSTITUTION_LIMIT HFSM2_IF_PLANS(, TASK_CAPACITY), Payload>;

#endif

/// @brief Set Substitution limit
/// @tparam N Maximum number times 'guard()' methods can substitute their states for others
template <Long N>
/// @tparam `N` Maximum number times 'guard()' methods can substitute their states for others
template <Short N>
using SubstitutionLimitN = G_<FEATURE_TAG, Context, Activation, ReactOrder HFSM2_IF_UTILITY_THEORY(, Rank, Utility, RNG), N HFSM2_IF_PLANS(, TASK_CAPACITY), Payload>;

#if HFSM2_PLANS_AVAILABLE()

/// @brief Set Task capacity
/// @tparam N Maximum number of tasks across all plans
/// @tparam `N` Maximum number of tasks across all plans
template <Long N>
using TaskCapacityN = G_<FEATURE_TAG, Context, Activation, ReactOrder HFSM2_IF_UTILITY_THEORY(, Rank, Utility, RNG), SUBSTITUTION_LIMIT , N , Payload>;

#endif

/// @brief Set Transition Payload type
/// @tparam T Utility type for 'TUtility State::utility() const' method
/// @tparam `T` Payload type
template <typename T>
using PayloadT = G_<FEATURE_TAG, Context, Activation, ReactOrder HFSM2_IF_UTILITY_THEORY(, Rank, Utility, RNG), SUBSTITUTION_LIMIT HFSM2_IF_PLANS(, TASK_CAPACITY), T >;

Expand Down Expand Up @@ -364,8 +364,8 @@ using Config = detail::G_<
>;

/// @brief 'Template namespace' for FSM classes
/// @tparam TConfig 'ConfigT<>' type configuration for MachineT<>
/// @see ConfigT<>
/// @tparam `TConfig` `ConfigT<>` type configuration for MachineT<>
/// @see `ConfigT<>`
template <typename TConfig = Config>
using MachineT = detail::M_<TConfig>;

Expand Down
2 changes: 1 addition & 1 deletion development/hfsm2/detail/containers/array.inl
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Expand Up @@ -7,7 +7,7 @@ template <typename T, Long NC_>
template <typename N>
HFSM2_CONSTEXPR(14)
T&
StaticArrayT<T, NC_>::operator[] (const N index) noexcept {
StaticArrayT<T, NC_>::operator[] (const N index) noexcept {
HFSM2_ASSERT(0 <= index && index < CAPACITY);

return _items[static_cast<Index>(index)];
Expand Down
8 changes: 4 additions & 4 deletions development/hfsm2/detail/features/transition.hpp
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Expand Up @@ -183,9 +183,9 @@ struct TransitionBase {
HFSM2_CONSTEXPR(11)
bool
operator == (const TransitionBase& other) const noexcept {
return origin == other.origin &&
return origin == other.origin &&
destination == other.destination &&
method == other.method &&
method == other.method &&
type == other.type;
}

Expand All @@ -194,9 +194,9 @@ struct TransitionBase {
HFSM2_CONSTEXPR(11)
bool
operator != (const TransitionBase& other) const noexcept {
return origin != other.origin ||
return origin != other.origin ||
destination != other.destination ||
method != other.method ||
method != other.method ||
type != other.type;
}

Expand Down
10 changes: 10 additions & 0 deletions development/hfsm2/detail/root/control_0.hpp
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Expand Up @@ -17,6 +17,9 @@ class ConstControlT {
template <typename, typename>
friend class R_;

template <typename, typename, typename>
friend struct QueryWrapperT;

protected:
using Context = typename TArgs::Context;

Expand Down Expand Up @@ -125,6 +128,12 @@ class ConstControlT {

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

/// @brief Stops processing of the current query down the hierarchy
/// @see Config::BottomUpReactions
HFSM2_CONSTEXPR(14) void consumeQuery() noexcept { _consumed = true; }

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

/// @brief Inspect current transition requests
/// @return Array of transition requests
HFSM2_CONSTEXPR(11) const TransitionSet& requests() const noexcept { return _core.requests; }
Expand Down Expand Up @@ -246,6 +255,7 @@ class ConstControlT {
const Core& _core;
StateID _originId = INVALID_STATE_ID;
RegionID _regionId = 0;
bool _consumed = false;
};

////////////////////////////////////////////////////////////////////////////////
Expand Down
22 changes: 22 additions & 0 deletions development/hfsm2/detail/root/control_0.inl
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Expand Up @@ -44,5 +44,27 @@ ConstControlT<TArgs>::Region::~Region() noexcept {

////////////////////////////////////////////////////////////////////////////////

template <typename TArgs>
HFSM2_CONSTEXPR(14)
void
ConstControlT<TArgs>::setRegion(const RegionID regionId_) noexcept {
HFSM2_ASSERT(_regionId <= regionId_ && regionId_ < RegionList::SIZE);

_regionId = regionId_;
}

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

template <typename TArgs>
HFSM2_CONSTEXPR(14)
void
ConstControlT<TArgs>::resetRegion(const RegionID regionId_) noexcept {
HFSM2_ASSERT(regionId_ <= _regionId && _regionId < RegionList::SIZE);

_regionId = regionId_;
}

////////////////////////////////////////////////////////////////////////////////

}
}
10 changes: 9 additions & 1 deletion development/hfsm2/detail/root/control_3.hpp
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Expand Up @@ -221,6 +221,7 @@ template <
, Long NCompoCount
, Long NOrthoCount
, Long NOrthoUnits
, typename TReactOrder
HFSM2_IF_SERIALIZATION(, Long NSerialBits)
HFSM2_IF_PLANS(, Long NTaskCapacity)
, typename TPayload
Expand All @@ -233,6 +234,7 @@ class FullControlT<
, NCompoCount
, NOrthoCount
, NOrthoUnits
, TReactOrder
HFSM2_IF_SERIALIZATION(, NSerialBits)
HFSM2_IF_PLANS(, NTaskCapacity)
, TPayload
Expand All @@ -246,6 +248,7 @@ class FullControlT<
, NCompoCount
, NOrthoCount
, NOrthoUnits
, TReactOrder
HFSM2_IF_SERIALIZATION(, NSerialBits)
HFSM2_IF_PLANS(, NTaskCapacity)
, TPayload
Expand All @@ -271,6 +274,7 @@ class FullControlT<
, NCompoCount
, NOrthoCount
, NOrthoUnits
, TReactOrder
HFSM2_IF_SERIALIZATION(, NSerialBits)
HFSM2_IF_PLANS(, NTaskCapacity)
, TPayload
Expand Down Expand Up @@ -445,7 +449,7 @@ class FullControlT<
using FullControlBase::_locked;
};

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//------------------------------------------------------------------------------

template <
typename TConfig
Expand All @@ -454,6 +458,7 @@ template <
, Long NCompoCount
, Long NOrthoCount
, Long NOrthoUnits
, typename TReactOrder
HFSM2_IF_SERIALIZATION(, Long NSerialBits)
HFSM2_IF_PLANS(, Long NTaskCapacity)
>
Expand All @@ -465,6 +470,7 @@ class FullControlT<
, NCompoCount
, NOrthoCount
, NOrthoUnits
, TReactOrder
HFSM2_IF_SERIALIZATION(, NSerialBits)
HFSM2_IF_PLANS(, NTaskCapacity)
, void
Expand All @@ -478,6 +484,7 @@ class FullControlT<
, NCompoCount
, NOrthoCount
, NOrthoUnits
, TReactOrder
HFSM2_IF_SERIALIZATION(, NSerialBits)
HFSM2_IF_PLANS(, NTaskCapacity)
, void
Expand All @@ -503,6 +510,7 @@ class FullControlT<
, NCompoCount
, NOrthoCount
, NOrthoUnits
, TReactOrder
HFSM2_IF_SERIALIZATION(, NSerialBits)
HFSM2_IF_PLANS(, NTaskCapacity)
, void
Expand Down
54 changes: 27 additions & 27 deletions development/hfsm2/detail/root/control_3.inl
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Expand Up @@ -217,12 +217,12 @@ FullControlBaseT<TArgs>::fail(const StateID stateId_) noexcept {

#if HFSM2_PLANS_AVAILABLE()

template <typename TG_, typename TSL_, typename TRL_, Long NCC_, Long NOC_, Long NOU_ HFSM2_IF_SERIALIZATION(, Long NSB_), Long NTC_, typename TTP_>
template <typename TG_, typename TSL_, typename TRL_, Long NCC_, Long NOC_, Long NOU_, typename TRO_ HFSM2_IF_SERIALIZATION(, Long NSB_), Long NTC_, typename TTP_>
template <typename TState>
HFSM2_CONSTEXPR(14)
TaskStatus
FullControlT<ArgsT<TG_, TSL_, TRL_, NCC_, NOC_, NOU_ HFSM2_IF_SERIALIZATION(, NSB_), NTC_, TTP_>>::updatePlan(TState& headState,
const TaskStatus subStatus) noexcept
FullControlT<ArgsT<TG_, TSL_, TRL_, NCC_, NOC_, NOU_, TRO_ HFSM2_IF_SERIALIZATION(, NSB_), NTC_, TTP_>>::updatePlan(TState& headState,
const TaskStatus subStatus) noexcept
{
constexpr StateID STATE_ID = TState::STATE_ID; // SPECIFIC

Expand Down Expand Up @@ -280,11 +280,11 @@ FullControlT<ArgsT<TG_, TSL_, TRL_, NCC_, NOC_, NOU_ HFSM2_IF_SERIALIZATION(, NS

//------------------------------------------------------------------------------

template <typename TG_, typename TSL_, typename TRL_, Long NCC_, Long NOC_, Long NOU_ HFSM2_IF_SERIALIZATION(, Long NSB_) HFSM2_IF_PLANS(, Long NTC_), typename TTP_>
template <typename TG_, typename TSL_, typename TRL_, Long NCC_, Long NOC_, Long NOU_, typename TRO_ HFSM2_IF_SERIALIZATION(, Long NSB_) HFSM2_IF_PLANS(, Long NTC_), typename TTP_>
HFSM2_CONSTEXPR(14)
void
FullControlT<ArgsT<TG_, TSL_, TRL_, NCC_, NOC_, NOU_ HFSM2_IF_SERIALIZATION(, NSB_) HFSM2_IF_PLANS(, NTC_), TTP_>>::changeWith(const StateID stateId_,
const Payload& payload) noexcept
FullControlT<ArgsT<TG_, TSL_, TRL_, NCC_, NOC_, NOU_, TRO_ HFSM2_IF_SERIALIZATION(, NSB_) HFSM2_IF_PLANS(, NTC_), TTP_>>::changeWith(const StateID stateId_,
const Payload& payload) noexcept
{
if (!_locked) {
_core.requests.emplace(Transition{_originId, stateId_, TransitionType::CHANGE, payload});
Expand All @@ -298,11 +298,11 @@ FullControlT<ArgsT<TG_, TSL_, TRL_, NCC_, NOC_, NOU_ HFSM2_IF_SERIALIZATION(, NS

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

template <typename TG_, typename TSL_, typename TRL_, Long NCC_, Long NOC_, Long NOU_ HFSM2_IF_SERIALIZATION(, Long NSB_) HFSM2_IF_PLANS(, Long NTC_), typename TTP_>
template <typename TG_, typename TSL_, typename TRL_, Long NCC_, Long NOC_, Long NOU_, typename TRO_ HFSM2_IF_SERIALIZATION(, Long NSB_) HFSM2_IF_PLANS(, Long NTC_), typename TTP_>
HFSM2_CONSTEXPR(14)
void
FullControlT<ArgsT<TG_, TSL_, TRL_, NCC_, NOC_, NOU_ HFSM2_IF_SERIALIZATION(, NSB_) HFSM2_IF_PLANS(, NTC_), TTP_>>::restartWith(const StateID stateId_,
const Payload& payload) noexcept
FullControlT<ArgsT<TG_, TSL_, TRL_, NCC_, NOC_, NOU_, TRO_ HFSM2_IF_SERIALIZATION(, NSB_) HFSM2_IF_PLANS(, NTC_), TTP_>>::restartWith(const StateID stateId_,
const Payload& payload) noexcept
{
if (!_locked) {
_core.requests.emplace(Transition{_originId, stateId_, TransitionType::RESTART, payload});
Expand All @@ -316,11 +316,11 @@ FullControlT<ArgsT<TG_, TSL_, TRL_, NCC_, NOC_, NOU_ HFSM2_IF_SERIALIZATION(, NS

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

template <typename TG_, typename TSL_, typename TRL_, Long NCC_, Long NOC_, Long NOU_ HFSM2_IF_SERIALIZATION(, Long NSB_) HFSM2_IF_PLANS(, Long NTC_), typename TTP_>
template <typename TG_, typename TSL_, typename TRL_, Long NCC_, Long NOC_, Long NOU_, typename TRO_ HFSM2_IF_SERIALIZATION(, Long NSB_) HFSM2_IF_PLANS(, Long NTC_), typename TTP_>
HFSM2_CONSTEXPR(14)
void
FullControlT<ArgsT<TG_, TSL_, TRL_, NCC_, NOC_, NOU_ HFSM2_IF_SERIALIZATION(, NSB_) HFSM2_IF_PLANS(, NTC_), TTP_>>::resumeWith(const StateID stateId_,
const Payload& payload) noexcept
FullControlT<ArgsT<TG_, TSL_, TRL_, NCC_, NOC_, NOU_, TRO_ HFSM2_IF_SERIALIZATION(, NSB_) HFSM2_IF_PLANS(, NTC_), TTP_>>::resumeWith(const StateID stateId_,
const Payload& payload) noexcept
{
if (!_locked) {
_core.requests.emplace(Transition{_originId, stateId_, TransitionType::RESUME, payload});
Expand All @@ -334,11 +334,11 @@ FullControlT<ArgsT<TG_, TSL_, TRL_, NCC_, NOC_, NOU_ HFSM2_IF_SERIALIZATION(, NS

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

template <typename TG_, typename TSL_, typename TRL_, Long NCC_, Long NOC_, Long NOU_ HFSM2_IF_SERIALIZATION(, Long NSB_) HFSM2_IF_PLANS(, Long NTC_), typename TTP_>
template <typename TG_, typename TSL_, typename TRL_, Long NCC_, Long NOC_, Long NOU_, typename TRO_ HFSM2_IF_SERIALIZATION(, Long NSB_) HFSM2_IF_PLANS(, Long NTC_), typename TTP_>
HFSM2_CONSTEXPR(14)
void
FullControlT<ArgsT<TG_, TSL_, TRL_, NCC_, NOC_, NOU_ HFSM2_IF_SERIALIZATION(, NSB_) HFSM2_IF_PLANS(, NTC_), TTP_>>::selectWith(const StateID stateId_,
const Payload& payload) noexcept
FullControlT<ArgsT<TG_, TSL_, TRL_, NCC_, NOC_, NOU_, TRO_ HFSM2_IF_SERIALIZATION(, NSB_) HFSM2_IF_PLANS(, NTC_), TTP_>>::selectWith(const StateID stateId_,
const Payload& payload) noexcept
{
if (!_locked) {
_core.requests.emplace(Transition{_originId, stateId_, TransitionType::SELECT, payload});
Expand All @@ -354,11 +354,11 @@ FullControlT<ArgsT<TG_, TSL_, TRL_, NCC_, NOC_, NOU_ HFSM2_IF_SERIALIZATION(, NS

#if HFSM2_UTILITY_THEORY_AVAILABLE()

template <typename TG_, typename TSL_, typename TRL_, Long NCC_, Long NOC_, Long NOU_ HFSM2_IF_SERIALIZATION(, Long NSB_) HFSM2_IF_PLANS(, Long NTC_), typename TTP_>
template <typename TG_, typename TSL_, typename TRL_, Long NCC_, Long NOC_, Long NOU_, typename TRO_ HFSM2_IF_SERIALIZATION(, Long NSB_) HFSM2_IF_PLANS(, Long NTC_), typename TTP_>
HFSM2_CONSTEXPR(14)
void
FullControlT<ArgsT<TG_, TSL_, TRL_, NCC_, NOC_, NOU_ HFSM2_IF_SERIALIZATION(, NSB_) HFSM2_IF_PLANS(, NTC_), TTP_>>::utilizeWith(const StateID stateId_,
const Payload& payload) noexcept
FullControlT<ArgsT<TG_, TSL_, TRL_, NCC_, NOC_, NOU_, TRO_ HFSM2_IF_SERIALIZATION(, NSB_) HFSM2_IF_PLANS(, NTC_), TTP_>>::utilizeWith(const StateID stateId_,
const Payload& payload) noexcept
{
if (!_locked) {
_core.requests.emplace(Transition{_originId, stateId_, TransitionType::UTILIZE, payload});
Expand All @@ -372,11 +372,11 @@ FullControlT<ArgsT<TG_, TSL_, TRL_, NCC_, NOC_, NOU_ HFSM2_IF_SERIALIZATION(, NS

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

template <typename TG_, typename TSL_, typename TRL_, Long NCC_, Long NOC_, Long NOU_ HFSM2_IF_SERIALIZATION(, Long NSB_) HFSM2_IF_PLANS(, Long NTC_), typename TTP_>
template <typename TG_, typename TSL_, typename TRL_, Long NCC_, Long NOC_, Long NOU_, typename TRO_ HFSM2_IF_SERIALIZATION(, Long NSB_) HFSM2_IF_PLANS(, Long NTC_), typename TTP_>
HFSM2_CONSTEXPR(14)
void
FullControlT<ArgsT<TG_, TSL_, TRL_, NCC_, NOC_, NOU_ HFSM2_IF_SERIALIZATION(, NSB_) HFSM2_IF_PLANS(, NTC_), TTP_>>::randomizeWith(const StateID stateId_,
const Payload& payload) noexcept
FullControlT<ArgsT<TG_, TSL_, TRL_, NCC_, NOC_, NOU_, TRO_ HFSM2_IF_SERIALIZATION(, NSB_) HFSM2_IF_PLANS(, NTC_), TTP_>>::randomizeWith(const StateID stateId_,
const Payload& payload) noexcept
{
if (!_locked) {
_core.requests.emplace(Transition{_originId, stateId_, TransitionType::RANDOMIZE, payload});
Expand All @@ -392,11 +392,11 @@ FullControlT<ArgsT<TG_, TSL_, TRL_, NCC_, NOC_, NOU_ HFSM2_IF_SERIALIZATION(, NS

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

template <typename TG_, typename TSL_, typename TRL_, Long NCC_, Long NOC_, Long NOU_ HFSM2_IF_SERIALIZATION(, Long NSB_) HFSM2_IF_PLANS(, Long NTC_), typename TTP_>
template <typename TG_, typename TSL_, typename TRL_, Long NCC_, Long NOC_, Long NOU_, typename TRO_ HFSM2_IF_SERIALIZATION(, Long NSB_) HFSM2_IF_PLANS(, Long NTC_), typename TTP_>
HFSM2_CONSTEXPR(14)
void
FullControlT<ArgsT<TG_, TSL_, TRL_, NCC_, NOC_, NOU_ HFSM2_IF_SERIALIZATION(, NSB_) HFSM2_IF_PLANS(, NTC_), TTP_>>::scheduleWith(const StateID stateId_,
const Payload& payload) noexcept
FullControlT<ArgsT<TG_, TSL_, TRL_, NCC_, NOC_, NOU_, TRO_ HFSM2_IF_SERIALIZATION(, NSB_) HFSM2_IF_PLANS(, NTC_), TTP_>>::scheduleWith(const StateID stateId_,
const Payload& payload) noexcept
{
_core.requests.emplace(Transition{_originId, stateId_, TransitionType::SCHEDULE, payload});

Expand All @@ -407,12 +407,12 @@ FullControlT<ArgsT<TG_, TSL_, TRL_, NCC_, NOC_, NOU_ HFSM2_IF_SERIALIZATION(, NS

#if HFSM2_PLANS_AVAILABLE()

template <typename TG_, typename TSL_, typename TRL_, Long NCC_, Long NOC_, Long NOU_ HFSM2_IF_SERIALIZATION(, Long NSB_), Long NTC_>
template <typename TG_, typename TSL_, typename TRL_, Long NCC_, Long NOC_, Long NOU_, typename TRO_ HFSM2_IF_SERIALIZATION(, Long NSB_), Long NTC_>
template <typename TState>
HFSM2_CONSTEXPR(14)
TaskStatus
FullControlT<ArgsT<TG_, TSL_, TRL_, NCC_, NOC_, NOU_ HFSM2_IF_SERIALIZATION(, NSB_), NTC_, void>>::updatePlan(TState& headState,
const TaskStatus subStatus) noexcept
FullControlT<ArgsT<TG_, TSL_, TRL_, NCC_, NOC_, NOU_, TRO_ HFSM2_IF_SERIALIZATION(, NSB_), NTC_, void>>::updatePlan(TState& headState,
const TaskStatus subStatus) noexcept
{
constexpr StateID STATE_ID = TState::STATE_ID; // SPECIFIC

Expand Down
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