selftest_behavior_sm.py

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#!/usr/bin/env python
# -*- coding: utf-8 -*-
 
#
# Content is only intended for the flexbe_testing self-test
#
 
from flexbe_core import Behavior, Autonomy, OperatableStateMachine, EventState, Logger
 
 
class SelftestBehaviorSM(Behavior):
        ''' Simple behavior for the flexbe_testing self-test of behaviors. '''
 
        def __init__(self):
                super(SelftestBehaviorSM, self).__init__()
                self.name = 'Selftest Behavior'
                self.add_parameter('value', 'wrong')
 
        def create(self):
                _state_machine = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['data'], output_keys=['result'])
                _state_machine.userdata.data = None
                _state_machine.userdata.result = None
 
                with _state_machine:
                        OperatableStateMachine.add('Modify Data',
                                                                                SelftestBehaviorSM._CalculationState(calculation=lambda x: x * 2),
                                                                                transitions={'done': 'Decide Param'},
                                                                                autonomy={'done': Autonomy.Off},
                                                                                remapping={'input_value': 'data', 'output_value': 'result'})
                        OperatableStateMachine.add('Decide Param',
                                                                                SelftestBehaviorSM._DecisionState(outcomes=['finished', 'failed'], conditions=lambda x: 'finished' if self.value == 'correct' else 'failed'),
                                                                                transitions={'finished': 'finished', 'failed': 'failed'},
                                                                                autonomy={'finished': Autonomy.Off, 'failed': Autonomy.Off},
                                                                                remapping={'input_value': 'data'})
                return _state_machine
 
        class _CalculationState(EventState):
                ''' Copy of the flexbe_states.CalculationState for use in the test behavior. '''
 
                def __init__(self, calculation):
                        super(SelftestBehaviorSM._CalculationState, self).__init__(outcomes=['done'], input_keys=['input_value'], output_keys=['output_value'])
                        self._calculation = calculation
                        self._calculation_result = None
 
                def execute(self, userdata):
                        userdata.output_value = self._calculation_result
                        return 'done'
 
                def on_enter(self, userdata):
                        if self._calculation is not None:
                                try:
                                        self._calculation_result = self._calculation(userdata.input_value)
                                except Exception as e:
                                        Logger.logwarn('Failed to execute calculation function!\n%s' % str(e))
                        else:
                                Logger.logwarn('Passed no calculation!')
 
        class _DecisionState(EventState):
                ''' Copy of the flexbe_states.DecisionState for use in the test behavior. '''
 
                def __init__(self, outcomes, conditions):
                        super(SelftestBehaviorSM._DecisionState, self).__init__(outcomes=outcomes, input_keys=['input_value'])
                        self._conditions = conditions
 
                def execute(self, userdata):
                        if self._conditions is not None:
                                outcome = None
                                try:
                                        outcome = str(self._conditions(userdata.input_value))
                                except Exception as e:
                                        Logger.logwarn('Passed no function as predicate!\n%s' % str(e))
                                        outcome = None
                                if outcome is not None and outcome in self._outcomes:
                                        return outcome