1 Concurrence Outcome Map
smach Concurrence通过outcome map定义Concurrence的outcome,具体说就是基于concurrence状态机的孩子(即包含的状态)的outcome来确定concurrence的outcome。
基于outcome map如果concurrence状态机某个孩子的outcome满足,那么concurrence会有对应的outcome输出;如果没有一个孩子outcome满足map条件,则concurrence输出default outcome。
cc = Concurrence(outcomes = ['outcome1', 'outcome2'],
default_outcome = 'outcome1',
input_keys = ['sm_input'],
output_keys = ['sm_output'],
outcome_map = {'succeeded':{'FOO':'succeeded',
'BAR':'outcome2'},
'outcome3':{'FOO':'outcome2'}})
with cc:
Concurrence.add('FOO', Foo())
Concurrence.add('BAR', Bar()
- 当孩子'FOO' 输出'succeeded' 并且孩子 'BAR'输出'outcome2'时候, 状态机Concurrence将结束并且输出 'succeeded'
- 当孩子 'FOO' 输出 'outcome2', 状态机Concurrence将结束并且输出 'outcome3',这时与孩子BAR输出无关
2 Callbacks
如果要完全灵活掌控状态机Concurrence的outcome,可以使用提供的回调函数child_termination_cb和the outcome_cb。
# gets called when ANY child state terminates
def child_term_cb(outcome_map):
# terminate all running states if FOO finished with outcome 'outcome3'
if outcome_map['FOO'] == 'outcome3':
return True
# terminate all running states if BAR finished
if outcome_map['BAR']:
return True
# in all other case, just keep running, don't terminate anything
return False
# gets called when ALL child states are terminated
def out_cb(outcome_map):
if outcome_map['FOO'] == 'succeeded':
return 'outcome1'
else:
return 'outcome2'
# creating the concurrence state machine
sm = Concurrence(outcomes=['outcome1', 'outcome2'],
default_outcome='outcome1',
input_keys=['sm_input'],
output_keys=['sm_output'],
child_termination_cb = child_term_cb,
outcome_cb = out_cb)
with sm:
Concurrence.add('FOO', Foo(),
remapping={'foo_in':'input'})
Concurrence.add('BAR', Bar(),
remapping={'bar_out':'bar_out'})
- 只要有一个孩子状态完成child_termination_cb就会被调用,在回调函数中你可以决定状态机继续运行还是结束所有在运行状态
- 当最后一个孩子状态完成时调用outcome_cb, 将返回concurrence的outcome。
3 example
#!/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'])
self.counter = 0
def execute(self, userdata):
rospy.loginfo('Executing state FOO')
if self.counter < 3:
self.counter += 1
return 'outcome1'
else:
return 'outcome2'
# define state Bar
class Bar(smach.State):
def __init__(self):
smach.State.__init__(self, outcomes=['outcome1'])
def execute(self, userdata):
rospy.loginfo('Executing state BAR')
return 'outcome1'
# define state Bas
class Bas(smach.State):
def __init__(self):
smach.State.__init__(self, outcomes=['outcome3'])
def execute(self, userdata):
rospy.loginfo('Executing state BAS')
return 'outcome3'
def main():
rospy.init_node('smach_example_state_machine')
# Create the top level SMACH state machine
sm_top = smach.StateMachine(outcomes=['outcome6'])
# Open the container
with sm_top:
smach.StateMachine.add('BAS', Bas(),
transitions={'outcome3':'CON'})
# Create the sub SMACH state machine
sm_con = smach.Concurrence(outcomes=['outcome4','outcome5'],
default_outcome='outcome4',
outcome_map={'outcome5':
{ 'FOO':'outcome2',
'BAR':'outcome1'}})
# Open the container
with sm_con:
# Add states to the container
smach.Concurrence.add('FOO', Foo())
smach.Concurrence.add('BAR', Bar())
smach.StateMachine.add('CON', sm_con,
transitions={'outcome4':'CON',
'outcome5':'outcome6'})
# Execute SMACH plan
outcome = sm_top.execute()
if __name__ == '__main__':
main()
运行结果:
[INFO] [WallTime: 1478584578.397681] State machine starting in initial state 'BAS' with userdata:
[]
[INFO] [WallTime: 1478584578.398319] Executing state BAS
[INFO] [WallTime: 1478584578.398788] State machine transitioning 'BAS':'outcome3'-->'CON'
[INFO] [WallTime: 1478584578.399252] Concurrence starting with userdata:
[]
[INFO] [WallTime: 1478584578.401027] Executing state FOO
[INFO] [WallTime: 1478584578.401614] Executing state BAR
[INFO] [WallTime: 1478584578.402149] Concurrent state 'FOO' returned outcome 'outcome1' on termination.
[INFO] [WallTime: 1478584578.402706] Concurrent state 'BAR' returned outcome 'outcome1' on termination.
[INFO] [WallTime: 1478584578.404882] Concurrent Outcomes: {'FOO': 'outcome1', 'BAR': 'outcome1'}
[INFO] [WallTime: 1478584578.405480] State machine transitioning 'CON':'outcome4'-->'CON'
[INFO] [WallTime: 1478584578.405959] Concurrence starting with userdata:
[]
[INFO] [WallTime: 1478584578.406966] Executing state FOO
[INFO] [WallTime: 1478584578.407653] Executing state BAR
[INFO] [WallTime: 1478584578.408183] Concurrent state 'FOO' returned outcome 'outcome1' on termination.
[INFO] [WallTime: 1478584578.408720] Concurrent state 'BAR' returned outcome 'outcome1' on termination.
[INFO] [WallTime: 1478584578.410798] Concurrent Outcomes: {'FOO': 'outcome1', 'BAR': 'outcome1'}
[INFO] [WallTime: 1478584578.411496] State machine transitioning 'CON':'outcome4'-->'CON'
[INFO] [WallTime: 1478584578.412002] Concurrence starting with userdata:
[]
[INFO] [WallTime: 1478584578.413100] Executing state FOO
[INFO] [WallTime: 1478584578.413924] Executing state BAR
[INFO] [WallTime: 1478584578.414754] Concurrent state 'FOO' returned outcome 'outcome1' on termination.
[INFO] [WallTime: 1478584578.415496] Concurrent state 'BAR' returned outcome 'outcome1' on termination.
[INFO] [WallTime: 1478584578.417591] Concurrent Outcomes: {'FOO': 'outcome1', 'BAR': 'outcome1'}
[INFO] [WallTime: 1478584578.418109] State machine transitioning 'CON':'outcome4'-->'CON'
[INFO] [WallTime: 1478584578.418569] Concurrence starting with userdata:
[]
[INFO] [WallTime: 1478584578.419639] Executing state FOO
[INFO] [WallTime: 1478584578.420264] Executing state BAR
[INFO] [WallTime: 1478584578.420775] Concurrent state 'FOO' returned outcome 'outcome2' on termination.
[INFO] [WallTime: 1478584578.421183] Concurrent state 'BAR' returned outcome 'outcome1' on termination.
[INFO] [WallTime: 1478584578.423097] Concurrent Outcomes: {'FOO': 'outcome2', 'BAR': 'outcome1'}
[INFO] [WallTime: 1478584578.423607] State machine terminating 'CON':'outcome5':'outcome6'
最后一次状态转变用图可以表示为: