1
2 import threading
3 import traceback
4
5 import smach
6
7 __all__ = ['State','CBState']
8
10 """Base class for SMACH states.
11
12 A SMACH state interacts with SMACH containers in two ways. The first is its
13 outcome identifier, and the second is the set of userdata variables which
14 it reads from and writes to at runtime. Both of these interactions are
15 declared before the state goes active (when its C{execute()} method is
16 called) and are checked during construction.
17 """
18 - def __init__(self, outcomes=[], input_keys=[], output_keys=[], io_keys=[]):
19 """State constructor
20 @type outcomes: list of str
21 @param outcomes: Custom outcomes for this state.
22
23 @type input_keys: list of str
24 @param input_keys: The userdata keys from which this state might read
25 at runtime.
26
27 @type output_keys: list of str
28 @param output_keys: The userdata keys to which this state might write
29 at runtime.
30
31 @type io_keys: list of str
32 @param io_keys: The userdata keys to which this state might write or
33 from which it might read at runtime.
34 """
35
36 self._outcomes = set(outcomes)
37
38
39 self._input_keys = set(input_keys + io_keys)
40 self._output_keys = set(output_keys + io_keys)
41
42
43 self._preempt_requested = False
44
45
47 """Called when executing a state.
48 In the base class this raises a NotImplementedError.
49
50 @type ud: L{UserData} structure
51 @param ud: Userdata for the scope in which this state is executing
52 """
53 raise NotImplementedError()
54
55
57 """Add outcomes to the outcome set."""
58 self._outcomes = self._outcomes.union(new_outcomes)
59
61 """Get a list of registered outcomes.
62 @rtype: tuple of str
63 @return: Tuple of registered outcome strings.
64 """
65 return tuple(self._outcomes)
66
67
69 """Add keys to the set of keys from which this state may read and write.
70 @type keys: list of str
71 @param keys: List of keys which may be read from and written to when this
72 state is active.
73 """
74 self._input_keys = self._input_keys.union(keys)
75 self._output_keys = self._output_keys.union(keys)
76
84
88
90 """Add keys to the set of keys to which this state may write.
91 @type keys: list of str
92 @param keys: List of keys which may be written to when this state is
93 active.
94 """
95 self._output_keys = self._output_keys.union(keys)
96
98 """Get a tuple of registered output keys."""
99 return tuple(self._output_keys)
100
101
103 """Sets preempt_requested to True"""
104 self._preempt_requested = True
105
107 """Sets preempt_requested to False"""
108 self._preempt_requested = False
109
111 """Sets preempt_requested to False"""
112 self._preempt_requested = False
113
115 """True if a preempt has been requested."""
116 return self._preempt_requested
117
119 - def __init__(self, cb, cb_args=[], cb_kwargs={}, outcomes=[], input_keys=[], output_keys=[], io_keys=[]):
120 """Create s state from a single function.
121
122 @type outcomes: list of str
123 @param outcomes: Custom outcomes for this state.
124
125 @type input_keys: list of str
126 @param input_keys: The userdata keys from which this state might read
127 at runtime.
128
129 @type output_keys: list of str
130 @param output_keys: The userdata keys to which this state might write
131 at runtime.
132
133 @type io_keys: list of str
134 @param io_keys: The userdata keys to which this state might write or
135 from which it might read at runtime.
136 """
137 State.__init__(self, outcomes, input_keys, output_keys, io_keys)
138 self._cb = cb
139 self._cb_args = cb_args
140 self._cb_kwargs = cb_kwargs
141
142 if smach.util.has_smach_interface(cb):
143 self._cb_input_keys = cb.get_registered_input_keys()
144 self._cb_output_keys = cb.get_registered_output_keys()
145 self._cb_outcomes = cb.get_registered_outcomes()
146
147 self.register_input_keys(self._cb_input_keys)
148 self.register_output_keys(self._cb_output_keys)
149 self.register_outcomes(self._cb_outcomes)
150
152 return self._cb(ud, *self._cb_args, **self._cb_kwargs)
153