Package smach :: Module state :: Class State

Class State

Base class for SMACH states.

A SMACH state interacts with SMACH containers in two ways. The first is its outcome identifier, and the second is the set of userdata variables which it reads from and writes to at runtime. Both of these interactions are declared before the state goes active (when its execute() method is called) and are checked during construction.

Instance Methods

__init__(self, outcomes=[], input_keys=[], output_keys=[], io_keys=[])
State constructor

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

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register_outcomes(self, new_outcomes)
Add outcomes to the outcome set.

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tuple of str

get_registered_outcomes(self)
Get a list of registered outcomes.

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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_input_keys(self, keys)
Add keys to the set of keys from which this state may read.

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

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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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get_registered_output_keys(self)
Get a tuple of registered output keys.

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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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recall_preempt(self)
Sets preempt_requested to False

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preempt_requested(self)
True if a preempt has been requested.

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

Properties
Inherited from `object`: `__class__`

Method Details

init(self, outcomes=[], input_keys=[], output_keys=[], io_keys=[])
(Constructor)

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State constructor

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 structure) - Userdata for the scope in which this state is executing

get_registered_outcomes(self)

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Get a list of registered outcomes.

Returns: tuple of str: Tuple of registered outcome strings.

register_io_keys(self, keys)

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Add keys to the set of keys from which this state may read and write.

Parameters:

keys (list of str) - List of keys which may be read from and written to when this state is active.

register_input_keys(self, keys)

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Add keys to the set of keys from which this state may read.

Parameters:

keys (list of str) - List of keys which may be read from when this state is active.

register_output_keys(self, keys)

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Add keys to the set of keys to which this state may write.

Parameters:

keys (list of str) - List of keys which may be written to when this state is active.

Class State

__init__(self, outcomes=[], input_keys=[], output_keys=[], io_keys=[]) (Constructor)

execute(self, ud)

get_registered_outcomes(self)

register_io_keys(self, keys)

register_input_keys(self, keys)

register_output_keys(self, keys)

init(self, outcomes=[], input_keys=[], output_keys=[], io_keys=[])
(Constructor)