Package smach :: Module iterator :: Class Iterator

Class Iterator

Sequence Container

This container inherits functionality from smach.StateMachine and adds some auto-generated transitions that create a sequence of states from the order in which said states are added to the container.

Instance Methods

__init__(self, outcomes, input_keys, output_keys, it=[], it_label='it_data', exhausted_outcome='exhausted')
Constructor.

source code

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

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request_preempt(self)
Sets preempt_requested to True

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dict of string: State

get_children(self)
Get the children of this container.

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smach.State

__getitem__(self, key)
Access child state by key.

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list of string

get_initial_states(self)
Get the initial states description.

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set_initial_state(self, initial_states, userdata)
Set initial active states of a container.

source code

list of string

get_active_states(self)
Get a description of the current states.

source code

list of 3-tuple

get_internal_edges(self)
Get the internal outcome edges of this container.

source code

check_consistency(self)
Check consistency of this container.

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

Inherited from container.Container

__enter__(self)

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__exit__(self, exc_type, exc_val, exc_tb)

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assert_opened(self, msg='')

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call_start_cbs(self)
Calls the registered start callbacks.

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call_termination_cbs(self, terminal_states, outcome)
Calls the registered termination callbacks.

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call_transition_cbs(self)
Calls the registered transition callbacks.

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close(self)
Close the container.

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bool

is_opened(self)
Returns True if this container is currently opened for construction.

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open(self)
Opens this container for modification.

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opened(self, **kwargs)
Context manager method for opening a smach container.

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register_start_cb(self, start_cb, cb_args=[])
Adds a start callback to this container.

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register_termination_cb(self, termination_cb, cb_args=[])
Adds a termination callback to this state machine.

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register_transition_cb(self, transition_cb, cb_args=[])
Adds a transition callback to this container.

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Inherited from state.State

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

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tuple of str

get_registered_outcomes(self)
Get a list of registered outcomes.

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

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

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recall_preempt(self)
Sets preempt_requested to False

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

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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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service_preempt(self)
Sets preempt_requested to False

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Static Methods

set_iteritems(it, it_label='it_data')
Set the list or generator for the iterator to iterate over.

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set_contained_state(label, state, loop_outcomes=[], break_outcomes=[], final_outcome_map={})
Set the contained state

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Inherited from container.Container
Instance Variables
	userdata Userdata to be passed to child states.

Properties
Inherited from `object`: `__class__`

Method Details

init(self, outcomes, input_keys, output_keys, it=[], it_label='it_data', exhausted_outcome='exhausted')
(Constructor)

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Constructor.

Parameters:

outcomes (list of string) - The potential outcomes of this container.
iteritems - Items to iterate over on each cycle
iteritems_label - The label that the item in the current iteration will be given when it is put into the container's local userdata.
it_label (string)
it (iterable)

Overrides: object.__init__

set_iteritems(it, it_label='it_data')
Static Method

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Set the list or generator for the iterator to iterate over.

Parameters:

iteritems - Items to iterate over on each cycle
iteritems_label - The label that the item in the current iteration will be given when it is put into the container's local userdata.
exhausted_outcome (string) - If the iterable is exhausted without a break condition this outcome is emitted by the container.
it_label (string)
it (iterable)

set_contained_state(label, state, loop_outcomes=[], break_outcomes=[], final_outcome_map={})
Static Method

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Set the contained state

Parameters:

label (string) - The label of the state being added.
state (smach.State) - An instance of a class implementing the smach.State interface.
loop_outcomes - List of contained state outcomes that should cause the iterator to continue. If this is empty, all outcomes that are not in the break_outcomes list will cause the iterator to continue to iterate. NOTE: loop_outcomes will be overriden by break_outcomes if both parameters are used.
break_outcomes - List of contained state outcomes that should cause the iterator to break. When the contained state emits an outcome in this list, the container will terminate and return either that outcome or the outcome it is mapped to in final_outcome_map. NOTE: loop_outcomes will be overriden by break_outcomes if both parameters are used.
final_outcome_map - A map from contained state outcomes to container outcomes. On termination of the iterator (either from finishing or from a break) this map will be used to translate contained state outcomes to container outcomes. Unspecified contained state outcomes will fall through as container outcomes.

execute(self, parent_ud)

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Called when executing a state. In the base class this raises a NotImplementedError.

Parameters:

ud - Userdata for the scope in which this state is executing

Overrides: state.State.execute

(inherited documentation)

request_preempt(self)

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Sets preempt_requested to True

Overrides: state.State.request_preempt: (inherited documentation)

get_children(self)

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Get the children of this container. This is empty for leaf states.

Returns: dict of string: State: The sub-states of this container.
Overrides: container.Container.get_children: (inherited documentation)

getitem(self, key)
(Indexing operator)

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Access child state by key.

Returns: smach.State: Child state with label equal to key
Overrides: container.Container.__getitem__: (inherited documentation)

get_initial_states(self)

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Get the initial states description.

Returns: list of string
Overrides: container.Container.get_initial_states: (inherited documentation)

set_initial_state(self, initial_states, userdata)

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Set initial active states of a container.

Parameters:

initial_states - A description of the initial active state of this container.
userdata - Initial userdata for this container.

Overrides: container.Container.set_initial_state

(inherited documentation)

get_active_states(self)

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Get a description of the current states. Note that this is specific to container implementation.

Returns: list of string
Overrides: container.Container.get_active_states: (inherited documentation)

get_internal_edges(self)

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Get the internal outcome edges of this container. Get a list of 3-tuples (OUTCOME, LABEL_FROM, LABEL_TO) which correspond to transitions inside this container.

Returns: list of 3-tuple
Overrides: container.Container.get_internal_edges: (inherited documentation)

check_consistency(self)

source code

Check consistency of this container.

Overrides: container.Container.check_consistency: (inherited documentation)

Class Iterator

__init__(self, outcomes, input_keys, output_keys, it=[], it_label='it_data', exhausted_outcome='exhausted') (Constructor)

set_iteritems(it, it_label='it_data') Static Method

set_contained_state(label, state, loop_outcomes=[], break_outcomes=[], final_outcome_map={}) Static Method

execute(self, parent_ud)

request_preempt(self)

get_children(self)

__getitem__(self, key) (Indexing operator)

get_initial_states(self)

set_initial_state(self, initial_states, userdata)

get_active_states(self)

get_internal_edges(self)

check_consistency(self)

init(self, outcomes, input_keys, output_keys, it=[], it_label='it_data', exhausted_outcome='exhausted')
(Constructor)

set_iteritems(it, it_label='it_data')
Static Method

set_contained_state(label, state, loop_outcomes=[], break_outcomes=[], final_outcome_map={})
Static Method

getitem(self, key)
(Indexing operator)