state_machine2.py
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00001 #!/usr/bin/env python
00002 
00003 import roslib; roslib.load_manifest('asmach_tutorials')
00004 import rospy
00005 import asmach as smach
00006 import smach_ros
00007 from asmach import async
00008 
00009 # define state Foo
00010 class Foo(smach.State):
00011     def __init__(self):
00012         smach.State.__init__(self, outcomes=['outcome1','outcome2'])
00013         self.counter = 0
00014 
00015     @async.function
00016     def execute_async(self, userdata):
00017         yield
00018         rospy.loginfo('Executing state FOO')
00019         if self.counter < 3:
00020             self.counter += 1
00021             async.returnValue('outcome1')
00022         else:
00023             async.returnValue('outcome2')
00024 
00025 
00026 # define state Bar
00027 class Bar(smach.State):
00028     def __init__(self):
00029         smach.State.__init__(self, outcomes=['outcome1'])
00030 
00031     @async.function
00032     def execute_async(self, userdata):
00033         yield
00034         rospy.loginfo('Executing state BAR')
00035         async.returnValue('outcome1')
00036         
00037 
00038 
00039 
00040 
00041 def main():
00042     rospy.init_node('smach_example_state_machine')
00043 
00044     # Create a SMACH state machine
00045     sm = smach.StateMachine(outcomes=['outcome4'])
00046 
00047     # Open the container
00048     with sm:
00049         # Add states to the container
00050         smach.StateMachine.add('FOO', Foo(), 
00051                                transitions={'outcome1':'BAR', 'outcome2':'outcome4'})
00052         smach.StateMachine.add('BAR', Bar(), 
00053                                transitions={'outcome1':'FOO'})
00054 
00055     # Execute SMACH plan
00056     outcome = smach.async.run(sm.execute_async())
00057 
00058 
00059 
00060 if __name__ == '__main__':
00061     main()


asmach_tutorials
Author(s): Jonathan Bohren
autogenerated on Thu Apr 24 2014 15:35:31