Inheritance diagram for flexbe_core.core.operatable_state_machine.OperatableStateMachine:

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Public Member Functions
def	__init__ (self, args, kwargs)

def	confirm (self, name, id)

def	destroy (self)

def	execute (self, parent_ud=smach.UserData())

def	on_exit (self, userdata)

def	replace (self, new_state)

Public Member Functions inherited from flexbe_core.core.preemptable_state_machine.PreemptableStateMachine
def	__init__ (self, args, kwargs)

Public Member Functions inherited from flexbe_core.core.loopback_state_machine.LoopbackStateMachine
def	__init__ (self, args, kwargs)

Public Member Functions inherited from flexbe_core.core.lockable_state_machine.LockableStateMachine
def	__init__ (self, args, kwargs)

def	get_locked_state (self)

def	is_locked (self)

def	is_locked_inside (self)

def	lock (self, path)

def	transition_allowed (self, state, outcome)

def	unlock (self, path)

Static Public Member Functions
def	add (label, state, transitions=None, autonomy=None, remapping=None)

Public Attributes
	autonomy

	id

	name

Public Attributes inherited from flexbe_core.core.lockable_state_machine.LockableStateMachine
	name

	transitions

Static Public Attributes
int	autonomy_level = 3

bool	silent_mode = False

Static Public Attributes inherited from flexbe_core.core.lockable_state_machine.LockableStateMachine
	path_for_switch = None

Private Member Functions
def	_async_execute (self, parent_ud=smach.UserData())

def	_attach_callback (self, msg)

def	_build_msg (self, prefix, msg=None)

def	_disable_ros_control (self)

def	_enable_ros_control (self)

def	_mirror_structure_callback (self, msg)

def	_notify_start (self)

def	_notify_stop (self)

def	_set_autonomy_level (self, msg)

def	_sync_callback (self, msg)

def	_transition_allowed (self, label, outcome)

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
	)

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.

Definition at line 278 of file operatable_state_machine.py.

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

private

Definition at line 353 of file operatable_state_machine.py.

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

private

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

Definition at line 330 of file operatable_state_machine.py.

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

private

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.