Package smach :: Module container :: Class Container

Class Container

Smach container interface.

This provides an interface for hooking into smach containers. This includes methods to get and set state, as well as provide start / transition / termination callback storage and registration utilities.

Note that it is up to the implementation of the containers both when the callbacks are called as well as what arguments are given to them.

Callback semantics:

Start: Called when a container is entered
Transition: Called when a container's state changes
Termination: Called when a container is left

Instance Methods

__init__(self, outcomes=[], input_keys=[], output_keys=[])
Initializes callback lists as empty lists.

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smach.State

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

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dict of string: State

get_children(self)
Get the children of this container.

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

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list of string

get_initial_states(self)
Get the initial states description.

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list of string

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

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list of 3-tuple

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

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check_consistency(self)
Check consistency of this 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_transition_cb(self, transition_cb, cb_args=[])
Adds a transition 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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call_start_cbs(self)
Calls the registered start callbacks.

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call_transition_cbs(self)
Calls the registered transition callbacks.

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

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__enter__(self)

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__exit__(self, exc_type, exc_val, exc_tb)

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

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open(self)
Opens this container for modification.

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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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assert_opened(self, msg='')

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

Inherited from state.State

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

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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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request_preempt(self)
Sets preempt_requested to True

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service_preempt(self)
Sets preempt_requested to False

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Instance Variables
	userdata Userdata to be passed to child states.

Properties
Inherited from `object`: `__class__`

Method Details

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

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Initializes callback lists as empty lists.

Parameters:

outcomes - Custom outcomes for this state.
input_keys - The userdata keys from which this state might read at runtime.
output_keys - The userdata keys to which this state might write at runtime.
io_keys - The userdata keys to which this state might write or from which it might read at runtime.

Overrides: object.__init__

getitem(self, key)
(Indexing operator)

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Access child state by key.

Returns: smach.State: Child state with label equal to key

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.

set_initial_state(self, initial_states, userdata)

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Set initial active states of a container.

Parameters:

initial_states (list of string) - A description of the initial active state of this container.
userdata (UserData) - Initial userdata for this container.

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

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.