Smach container interface.
This provides an interface for hooking into smach containers. This
includes methods to get and set state, as well as provide start /
transition / termination callback storage and registration utilities.
Note that it is up to the implementation of the containers both when
the callbacks are called as well as what arguments are given to them.
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__init__(self,
outcomes=[],
input_keys=[],
output_keys=[])
Initializes callback lists as empty lists. |
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smach.State
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dict of string: State
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list of string
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get_initial_states(self)
Get the initial states description. |
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list of string
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list of 3-tuple
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check_consistency(self)
Check consistency of this container. |
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opened(self,
**kwargs)
Context manager method for opening a smach container. |
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bool
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is_opened(self)
Returns True if this container is currently opened for construction. |
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Inherited from object :
__delattr__ ,
__format__ ,
__getattribute__ ,
__hash__ ,
__new__ ,
__reduce__ ,
__reduce_ex__ ,
__repr__ ,
__setattr__ ,
__sizeof__ ,
__str__ ,
__subclasshook__
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get_registered_input_keys(self)
Get a tuple of registered input keys. |
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tuple of string
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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_outcomes(self,
new_outcomes)
Add outcomes to the outcome set. |
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request_preempt(self)
Sets preempt_requested to True |
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service_preempt(self)
Sets preempt_requested to False |
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