state_machine.py
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00001 #!/usr/bin/env python
00002 """
00003 Description:
00004     Create a simple 3-state state machine.
00005 
00006 Usage:
00007     $> ./state_machine.py
00008 
00009 Output:
00010     [INFO] : State machine starting in initial state 'FOO' with userdata: 
00011             []
00012     [INFO] : State machine transitioning 'FOO':'done'-->'BAR'
00013     [INFO] : State machine transitioning 'BAR':'done'-->'BAZ'
00014     [INFO] : State machine terminating 'BAZ':'done':'succeeded'
00015 
00016 """
00017 
00018 import roslib; roslib.load_manifest('asmach_tutorials')
00019 import rospy
00020 import asmach as smach
00021 from asmach import async
00022 import smach_ros
00023 
00024 class ExampleState(smach.State):
00025     def __init__(self):
00026         smach.State.__init__(self, outcomes = ['done'])
00027 
00028     @async.function
00029     def execute_async(self, ud):
00030         yield
00031         async.returnValue('done')
00032 
00033 def main():
00034     rospy.init_node('smach_example_state_machine')
00035 
00036     # Create a SMACH state machine
00037     sm = smach.StateMachine(outcomes=['succeeded','aborted'])
00038 
00039     # Open the container
00040     with sm:
00041         # Add states to the container
00042         smach.StateMachine.add('FOO', ExampleState(), {'done':'BAR'})
00043         smach.StateMachine.add('BAR', ExampleState(), {'done':'BAZ'})
00044         smach.StateMachine.add('BAZ',
00045                                ExampleState(),
00046                                {'done':'succeeded'})
00047 
00048     # Execute SMACH plan
00049     outcome = smach.async.run(sm.execute_async())
00050 
00051 if __name__ == '__main__':
00052     main()


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