1 定义用户数据
有时可能需要给某个状态提供一些输入数据,而且该状态也可能需要输出一些数据给其它状态使用。这些输入和输出数据可以称为userdata 。
class Foo(smach.State):
def __init__(self, outcomes=['outcome1', 'outcome2'],
input_keys=['foo_input'],
output_keys=['foo_output'])
def execute(self, userdata):
# Do something with userdata
if userdata.foo_input == 1:
return 'outcome1'
else:
userdata.foo_output = 3
return 'outcome2'
-
input_keys 列表是该状态需要输入的数据。execute方法使用 userdata结构拷贝。该状态可以读取列举的 在input_keys列表的所有userdata数据字段, 但是不能向这些字段写东西
-
output_keys列表是该状态所有输出数据。该状态可以写output_keys中列举的任何userdata字段。
状态接口可以被定义,通过 outcomes, input keys和output keys。
2 连接用户数据
当向状态机添加状态时候,你可以映射userdata字段。例如,如果状态FOO输出数据 'foo_output', 而同时状态BAR 需要输入'bar_input', 那么你可将通过名字讲userdata相关字段连接到一起:
sm_top = smach.StateMachine(outcomes=['outcome4','outcome5'],
input_keys=['sm_input'],
output_keys=['sm_output'])
with sm_top:
smach.StateMachine.add('FOO', Foo(),
transitions={'outcome1':'BAR',
'outcome2':'outcome4'},
remapping={'foo_input':'sm_input',
'foo_output':'sm_data'})
smach.StateMachine.add('BAR', Bar(),
transitions={'outcome2':'FOO'},
remapping={'bar_input':'sm_data',
'bar_output1':'sm_output'})
字段remapping映射状态的in/output_key到状态机的userdata字段。因此,当映射 'x':'y'时候:
- x 是状态的一个input_key 或者一个output_key ;
- y 自动成为了状态机的userdata的部分 ;
2.1 状态之间传递数据
我们可以使用remapping机制从状态FOO向状态BAR传递数据,为此当向状态机添加这两种状态时需要使用如下remapping:
- FOO: remapping={'foo_output':'sm_user_data'}
- BAR: remapping={'bar_input':'sm_user_data'}
2.2 状态和状态机之间传递数据
从状态BAR向包含BAR的状态机传递数据
BAR: remapping={'bar_output':'sm_output'}
从状态机向包含状态FOO的状态传递数据
FOO: remapping={'foo_input':'sm_input'}
3 实例解析
#!/usr/bin/env python
import roslib; roslib.load_manifest('smach_tutorials')
import rospy
import smach
import smach_ros
# define state Foo
class Foo(smach.State):
def __init__(self):
smach.State.__init__(self,
outcomes=['outcome1','outcome2'],
input_keys=['foo_counter_in'],
output_keys=['foo_counter_out'])
def execute(self, userdata):
rospy.loginfo('Executing state FOO')
if userdata.foo_counter_in < 3:
userdata.foo_counter_out = userdata.foo_counter_in + 1
return 'outcome1'
else:
return 'outcome2'
# define state Bar
class Bar(smach.State):
def __init__(self):
smach.State.__init__(self,
outcomes=['outcome1'],
input_keys=['bar_counter_in'])
def execute(self, userdata):
rospy.loginfo('Executing state BAR')
rospy.loginfo('Counter = %f'%userdata.bar_counter_in)
return 'outcome1'
def main():
rospy.init_node('smach_example_state_machine')
# Create a SMACH state machine
sm = smach.StateMachine(outcomes=['outcome4'])
sm.userdata.sm_counter = 0
# Open the container
with sm:
# Add states to the container
smach.StateMachine.add('FOO', Foo(),
transitions={'outcome1':'BAR',
'outcome2':'outcome4'},
remapping={'foo_counter_in':'sm_counter',
'foo_counter_out':'sm_counter'})
smach.StateMachine.add('BAR', Bar(),
transitions={'outcome1':'FOO'},
remapping={'bar_counter_in':'sm_counter'})
# Execute SMACH plan
outcome = sm.execute()
if __name__ == '__main__':
main()
运行结果如下:
[INFO] [WallTime: 1478505239.574543] State machine starting in initial state 'FOO' with userdata:
['sm_counter']
[INFO] [WallTime: 1478505239.575218] Executing state FOO
[INFO] [WallTime: 1478505239.575714] State machine transitioning 'FOO':'outcome1'-->'BAR'
[INFO] [WallTime: 1478505239.576135] Executing state BAR
[INFO] [WallTime: 1478505239.576547] Counter = 1.000000
[INFO] [WallTime: 1478505239.576917] State machine transitioning 'BAR':'outcome1'-->'FOO'
[INFO] [WallTime: 1478505239.577303] Executing state FOO
[INFO] [WallTime: 1478505239.577718] State machine transitioning 'FOO':'outcome1'-->'BAR'
[INFO] [WallTime: 1478505239.578095] Executing state BAR
[INFO] [WallTime: 1478505239.578463] Counter = 2.000000
[INFO] [WallTime: 1478505239.578850] State machine transitioning 'BAR':'outcome1'-->'FOO'
[INFO] [WallTime: 1478505239.579229] Executing state FOO
[INFO] [WallTime: 1478505239.579621] State machine transitioning 'FOO':'outcome1'-->'BAR'
[INFO] [WallTime: 1478505239.580049] Executing state BAR
[INFO] [WallTime: 1478505239.580421] Counter = 3.000000
[INFO] [WallTime: 1478505239.580770] State machine transitioning 'BAR':'outcome1'-->'FOO'
[INFO] [WallTime: 1478505239.581125] Executing state FOO
[INFO] [WallTime: 1478505239.581510] State machine terminating 'FOO':'outcome2':'outcome4'