Inheritance diagram for flexbe_core.core.operatable_state_machine.OperatableStateMachine:

Public Member Functions
def	__init__
def	confirm
def	destroy
def	execute
def	on_exit
def	replace
Static Public Member Functions
def	add
Public Attributes
	autonomy
	id
	name
Static Public Attributes
int	autonomy_level = 3
	silent_mode = False
Private Member Functions
def	_async_execute
def	_attach_callback
def	_build_msg
def	_disable_ros_control
def	_enable_ros_control
def	_mirror_structure_callback
def	_notify_start
def	_notify_stop
def	_set_autonomy_level
def	_sync_callback
def	_transition_allowed
Private Attributes
	_autonomy
	_current_state
	_inner_sync_request
	_is_controlled
	_is_running
	_message
	_ordered_states
	_preempted_label
	_preempted_state
	_pub
	_rate
	_sub

Detailed Description

A state machine that can be operated.
It synchronizes its current state with the mirror and supports some control mechanisms.

Definition at line 21 of file operatable_state_machine.py.

Constructor & Destructor Documentation

def flexbe_core.core.operatable_state_machine.OperatableStateMachine.__init__	(	self,
		args,
		kwargs
	)

Reimplemented from flexbe_core.core.preemptable_state_machine.PreemptableStateMachine.

Definition at line 30 of file operatable_state_machine.py.

Member Function Documentation

def flexbe_core.core.operatable_state_machine.OperatableStateMachine._async_execute	(	self,
		parent_ud = `smach.UserData()`
	)	`[private]`

Run the state machine on entry to this state.
This will set the "closed" flag and spin up the execute thread. Once
this flag has been set, it will prevent more states from being added to
the state machine.

Definition at line 81 of file operatable_state_machine.py.

def flexbe_core.core.operatable_state_machine.OperatableStateMachine._attach_callback	(	self,
		msg
	)	`[private]`

Definition at line 252 of file operatable_state_machine.py.

def flexbe_core.core.operatable_state_machine.OperatableStateMachine._build_msg	(	self,
		prefix,
		msg = `None`
	)	`[private]`

Adds this state machine to the initial structure message.

@type prefix: string
@param prefix: A path consisting of the container hierarchy containing this state.

@type msg: ContainerStructure
@param msg: The message that will finally contain the structure message.

Reimplemented in flexbe_core.core.concurrency_container.ConcurrencyContainer.

Definition at line 278 of file operatable_state_machine.py.

def flexbe_core.core.operatable_state_machine.OperatableStateMachine._disable_ros_control ( self ) [private]

Reimplemented in flexbe_core.core.concurrency_container.ConcurrencyContainer.

Definition at line 353 of file operatable_state_machine.py.

def flexbe_core.core.operatable_state_machine.OperatableStateMachine._enable_ros_control ( self ) [private]

Reimplemented in flexbe_core.core.concurrency_container.ConcurrencyContainer.

Definition at line 337 of file operatable_state_machine.py.

def flexbe_core.core.operatable_state_machine.OperatableStateMachine._mirror_structure_callback	(	self,
		msg
	)	`[private]`

Definition at line 266 of file operatable_state_machine.py.

def flexbe_core.core.operatable_state_machine.OperatableStateMachine._notify_start ( self ) [private]

Reimplemented in flexbe_core.core.concurrency_container.ConcurrencyContainer.

Definition at line 330 of file operatable_state_machine.py.

def flexbe_core.core.operatable_state_machine.OperatableStateMachine._notify_stop ( self ) [private]

Reimplemented in flexbe_core.core.concurrency_container.ConcurrencyContainer.

Definition at line 345 of file operatable_state_machine.py.

def flexbe_core.core.operatable_state_machine.OperatableStateMachine._set_autonomy_level	(	self,
		msg
	)	`[private]`

Sets the current autonomy level.

Definition at line 227 of file operatable_state_machine.py.

def flexbe_core.core.operatable_state_machine.OperatableStateMachine._sync_callback	(	self,
		msg
	)	`[private]`

Definition at line 240 of file operatable_state_machine.py.

def flexbe_core.core.operatable_state_machine.OperatableStateMachine._transition_allowed	(	self,
		label,
		outcome
	)	`[private]`

Definition at line 274 of file operatable_state_machine.py.

def flexbe_core.core.operatable_state_machine.OperatableStateMachine.add	(	label,
		state,
		transitions = `None`,
		autonomy = `None`,
		remapping = `None`
	)	`[static]`

Add a state to the opened state machine.

@type label: string
@param label: The label of the state being added.

@param state: An instance of a class implementing the L{State} interface.

@param transitions: A dictionary mapping state outcomes to other state
labels or container outcomes.

@param autonomy: A dictionary mapping state outcomes to their required
autonomy level

@param remapping: A dictionary mapping local userdata keys to userdata
keys in the container.

Definition at line 139 of file operatable_state_machine.py.

def flexbe_core.core.operatable_state_machine.OperatableStateMachine.confirm	(	self,
		name,
		id
	)

Confirms the state machine and triggers the creation of the structural message.
It is mandatory to call this function at the top-level state machine
between building it and starting its execution.

@type name: string
@param name: The name of this state machine to identify it.

Definition at line 196 of file operatable_state_machine.py.

def flexbe_core.core.operatable_state_machine.OperatableStateMachine.destroy ( self )

Definition at line 186 of file operatable_state_machine.py.