Package asmach :: Module sequence :: Class Sequence

Class Sequence

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Sequence Container

This container inherits functionality from smach.StateMachine and adds some auto-generated transitions that create a sequence of states from the order in which said states are added to the container.

Instance Methods
 
__init__(self, outcomes, connector_outcome)
Constructor.
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Inherited from object: __delattr__, __format__, __getattribute__, __hash__, __new__, __reduce__, __reduce_ex__, __repr__, __setattr__, __sizeof__, __str__, __subclasshook__

    Inherited from state_machine.StateMachine
smach.State
__getitem__(self, key)
Access child state by key.
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check_consistency(self)
Check the entire state machine for consistency.
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check_state_spec(self, label, state, transitions)
Validate full state specification (label, state, and transitions).
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execute_async(self, parent_ud=smach.UserData())
Run the state machine on entry to this state.
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list of string
get_active_states(self)
Get a description of the current state.
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dict of string: State
get_children(self)
Get the children of this container.
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list of string
get_initial_states(self)
Get the initial state description.
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list of 3-tuple
get_internal_edges(self)
Get the internal outcome edges of this container.
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is_running(self)
async.returnValues true if the state machine is running.
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request_preempt(self)
Propagate preempt to currently active state.
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set_initial_state(self, initial_states, userdata=smach.UserData())
Set initial active state of a container.
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set_userdata(self, userdata)
Propagate an updated userdata structure into this state machine.
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    Inherited from container.Container
 
__enter__(self) source code
 
__exit__(self, exc_type, exc_val, exc_tb) source code
 
assert_opened(self, msg='') source code
 
call_start_cbs(self)
Calls the registered start callbacks.
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call_termination_cbs(self, terminal_states, outcome)
Calls the registered termination callbacks.
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call_transition_cbs(self)
Calls the registered transition callbacks.
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close(self)
Close the container.
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bool
is_opened(self)
Returns True if this container is currently opened for construction.
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open(self)
Opens this container for modification.
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opened(self, **kwargs)
Context manager method for opening a smach container.
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register_start_cb(self, start_cb, cb_args=[])
Adds a start callback to this container.
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register_termination_cb(self, termination_cb, cb_args=[])
Adds a termination callback to this state machine.
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register_transition_cb(self, transition_cb, cb_args=[])
Adds a transition callback to this container.
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    Inherited from state.State
 
get_registered_input_keys(self)
Get a tuple of registered input keys.
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tuple of string
get_registered_outcomes(self)
Get a list of registered outcomes.
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get_registered_output_keys(self)
Get a tuple of registered output keys.
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preempt_requested(self)
True if a preempt has been requested.
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recall_preempt(self)
Sets preempt_requested to False
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register_input_keys(self, keys)
Add keys to the set of keys from which this state may read.
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register_io_keys(self, keys)
Add keys to the set of keys from which this state may read and write.
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register_outcomes(self, new_outcomes)
Add outcomes to the outcome set.
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register_output_keys(self, keys)
Add keys to the set of keys to which this state may write.
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service_preempt(self)
Sets preempt_requested to False
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Static Methods
 
add(label, state, transitions=None, remapping=None)
Add a state to the sequence.
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    Inherited from state_machine.StateMachine
 
add_auto(label, state, connector_outcomes, transitions=None, remapping=None)
Add a state to the state machine such that it automatically transitions to the next added state.
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Instance Variables
    Inherited from container.Container
  userdata
Userdata to be passed to child states.
Properties

Inherited from object: __class__

Method Details

__init__(self, outcomes, connector_outcome)
(Constructor)

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Constructor.

Parameters:
  • outcomes (list of string) - The potential outcomes of this container.
  • connector_outcome (string) - The outcome used to connect states in the sequence.
Overrides: object.__init__

add(label, state, transitions=None, remapping=None)
Static Method

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Add a state to the sequence. Each state added will receive an additional transition from it to the state which is added after it. The transition will follow the outcome specified at construction of this container.

Parameters:
  • label (string) - The label of the state being added.
  • state - An instance of a class implementing the State interface.
  • transitions - A dictionary mapping state outcomes to other state labels. If one of these transitions follows the connector outcome specified in the constructor, the provided transition will override the automatically generated connector transition.
Overrides: state_machine.StateMachine.add