yasmin_viewer.yasmin_viewer_pub module

class yasmin_viewer.yasmin_viewer_pub.YasminViewerPub(fsm: yasmin.StateMachine, fsm_name: str = '', rate: int = 4, node: rclpy.node.Node = None)

Bases: object

A class to publish the state of a Finite State Machine (FSM) for visualization.

cleanup() → None

Cleans up resources used by the YasminViewerPub instance.

parse_concurrence_transitions(concurrence: yasmin.Concurrence) → Dict[str, Dict[str, str]]

Converts a concurrence outcome map into transition-like information for visualization.

In concurrence, transitions are based on outcome combinations rather than direct state-to-state transitions. This method creates pseudo-transitions that represent the outcome mapping logic.

Args:

concurrence (Concurrence): The concurrence state to parse transitions from.

Returns:

List[TransitionMsg]: A list of TransitionMsg representing the concurrence outcome mappings.

parse_state(state_name: str, state_info: Dict[str, Any], states_list: List[yasmin_msgs.msg.State], parent: int = -1) → None

Recursively parses a state and its transitions, adding the resulting StateMsg to the states list.

Args:

state_name (str): The name of the state. state_info (Dict[str, str]): Information about the state, including its transitions. states_list (List[StateMsg]): A list to which the parsed StateMsg will be appended. parent (int, optional): The ID of the parent state. Defaults to -1.

Returns:

None

parse_transitions(transitions: Dict[str, str]) → List[yasmin_msgs.msg.Transition]

Converts a dictionary of transitions into a list of TransitionMsg.

Args:

transitions (Dict[str, str]): A dictionary where keys are outcome names and values are state names.

Returns:

List[TransitionMsg]: A list of TransitionMsg representing the FSM transitions.