yasmin_demos.service_client_demo module

class yasmin_demos.service_client_demo.AddTwoIntsState(*args: Any, **kwargs: Any)

Bases: ServiceState

A state that calls the AddTwoInts service to add two integers.

This class is a state in a finite state machine that sends a request to the AddTwoInts service, retrieves the response, and updates the blackboard with the result.

Attributes:

service_type (type): The service type being used (AddTwoInts). service_name (str): The name of the service. outcomes (list): The list of possible outcomes for this state.

create_request_handler(blackboard: yasmin.Blackboard) → example_interfaces.srv.AddTwoInts.Request

Creates the service request from the blackboard data.

Args:

blackboard (Blackboard): The blackboard containing the input values.

Returns:

AddTwoInts.Request: The request object populated with values from the blackboard.

response_handler(blackboard: yasmin.Blackboard, response: example_interfaces.srv.AddTwoInts.Response) → str

Processes the response from the AddTwoInts service.

Updates the blackboard with the sum result from the response.

Args:

blackboard (Blackboard): The blackboard to update with the sum. response (AddTwoInts.Response): The response from the service call.

Returns:

str: The outcome of the operation, which is “outcome1”.

yasmin_demos.service_client_demo.main()

The main function to execute the finite state machine (FSM).

This function initializes the ROS 2 environment, sets up logging, creates the FSM with defined states, and executes the FSM.

Raises:

KeyboardInterrupt: If the user interrupts the program.

yasmin_demos.service_client_demo.print_sum(blackboard: yasmin.Blackboard) → str

Logs the sum value from the blackboard.

This function retrieves the sum from the blackboard and logs it.

Args:

blackboard (Blackboard): The blackboard from which to retrieve the sum.

Returns:

str: The outcome of the operation, which is SUCCEED.

yasmin_demos.service_client_demo.set_ints(blackboard: yasmin.Blackboard) → str

Sets the integer values in the blackboard.

This function initializes the blackboard with two integer values to be added.

Args:

blackboard (Blackboard): The blackboard to update with integer values.

Returns:

str: The outcome of the operation, which is SUCCEED.