selftest_behavior_sm.py

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#!/usr/bin/env python
# -*- coding: utf-8 -*-
###########################################################
#               WARNING: Generated code!                  #
#              **************************                 #
# Manual changes may get lost if file is generated again. #
# Only code inside the [MANUAL] tags will be kept.        #
###########################################################

from flexbe_core import Behavior, Autonomy, OperatableStateMachine, ConcurrencyContainer, PriorityContainer, Logger
from flexbe_states.calculation_state import CalculationState
from flexbe_states.decision_state import DecisionState
# Additional imports can be added inside the following tags
# [MANUAL_IMPORT]

# [/MANUAL_IMPORT]


'''
Created on Fri Apr 17 2020
@author: Philipp Schillinger
'''
class SelftestBehaviorSM(Behavior):
        '''
        Simple behavior for the flexbe_testing self-test of behaviors.
        '''


        def __init__(self):
                super(SelftestBehaviorSM, self).__init__()
                self.name = 'Selftest Behavior'

                # parameters of this behavior
                self.add_parameter('value', 'wrong')

                # references to used behaviors

                # Additional initialization code can be added inside the following tags
                # [MANUAL_INIT]
                
                # [/MANUAL_INIT]

                # Behavior comments:



        def create(self):
                # x:30 y:365, x:130 y:365
                _state_machine = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['data'], output_keys=['result'])
                _state_machine.userdata.data = None
                _state_machine.userdata.result = None

                # Additional creation code can be added inside the following tags
                # [MANUAL_CREATE]
                
                # [/MANUAL_CREATE]


                with _state_machine:
                        # x:40 y:73
                        OperatableStateMachine.add('Modify Data',
                                                                                CalculationState(calculation=lambda x: x * 2),
                                                                                transitions={'done': 'Decide Param'},
                                                                                autonomy={'done': Autonomy.Off},
                                                                                remapping={'input_value': 'data', 'output_value': 'result'})

                        # x:37 y:201
                        OperatableStateMachine.add('Decide Param',
                                                                                DecisionState(outcomes=['finished', 'failed'], conditions=lambda x: 'finished' if self.value == 'correct' else 'failed'),
                                                                                transitions={'finished': 'finished', 'failed': 'failed'},
                                                                                autonomy={'finished': Autonomy.Off, 'failed': Autonomy.Off},
                                                                                remapping={'input_value': 'data'})


                return _state_machine


        # Private functions can be added inside the following tags
        # [MANUAL_FUNC]
        
        # [/MANUAL_FUNC]