smach.state.CBState

Class CBState

Instance Methods

__init__(self, cb, cb_args=[], cb_kwargs={}, outcomes=[], input_keys=[], output_keys=[], io_keys=[])
Create s state from a single function.

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execute(self, ud)
Called when executing a state.

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Inherited from object: __delattr__, __format__, __getattribute__, __hash__, __new__, __reduce__, __reduce_ex__, __repr__, __setattr__, __sizeof__, __str__, __subclasshook__

Inherited from State

get_registered_input_keys(self)
Get a tuple of registered input keys.

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tuple of str

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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request_preempt(self)
Sets preempt_requested to True

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service_preempt(self)
Sets preempt_requested to False

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Properties

Inherited from object: __class__

Method Details

init(self, cb, cb_args=[], cb_kwargs={}, outcomes=[], input_keys=[], output_keys=[], io_keys=[])
(Constructor)

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Create s state from a single function.

Parameters:

outcomes (list of str) - Custom outcomes for this state.
input_keys (list of str) - The userdata keys from which this state might read at runtime.
output_keys (list of str) - The userdata keys to which this state might write at runtime.
io_keys (list of str) - The userdata keys to which this state might write or from which it might read at runtime.

Overrides: object.__init__

execute(self, ud)

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Called when executing a state. In the base class this raises a NotImplementedError.

Parameters:

ud - Userdata for the scope in which this state is executing

Overrides: State.execute

(inherited documentation)

Class CBState

__init__(self, cb, cb_args=[], cb_kwargs={}, outcomes=[], input_keys=[], output_keys=[], io_keys=[]) (Constructor)

execute(self, ud)

init(self, cb, cb_args=[], cb_kwargs={}, outcomes=[], input_keys=[], output_keys=[], io_keys=[])
(Constructor)