def tick(self):
print(" Clock tick")
tb = self.data(TOP)
tb.decrementTimer()
if tb.getRemainingTime() == 0:
print(" Finished")
self.set_state(StaticFSM.State(Idle))
else:
tb.printTimer()
def onInitialize(self):
self._fsm = StaticFSM.Machine(MicrowaveFsm.TOP, self)
self._eventIn = EventPort.EventInPort("event", self._fsm)
self.addInPort("event", self._eventIn)
self._eventIn.bindEvent0("open", MicrowaveFsm.TOP.open)
self._eventIn.bindEvent0("close", MicrowaveFsm.TOP.close)
self._eventIn.bindEvent1("minute", MicrowaveFsm.TOP.minute,
RTC.TimedLong(RTC.Time(0, 0), 0))
self._eventIn.bindEvent0("start", MicrowaveFsm.TOP.start)
self._eventIn.bindEvent0("stop", MicrowaveFsm.TOP.stop)
self._eventIn.bindEvent0("tick", MicrowaveFsm.TOP.tick)
return RTC.RTC_OK
def minute(self, time_):
self.set_state(StaticFSM.State(Programmed))
self.dispatch(StaticFSM.Event(TOP.minute, time_))
def onInit(self):
self.set_state(StaticFSM.State(Idle))
return RTC.RTC_OK
def stop(self):
self.set_state(StaticFSM.State(Idle))
def open(self):
self.set_state(StaticFSM.State(Disabled))
def close(self):
# self.setStateHistory(OpenRTM_aist.Macho.State(Operational))
self.set_state(StaticFSM.State(Operational))
def onInit(self):
self.set_state(StaticFSM.State(Operational))
return RTC.RTC_OK
def start(self):
self.set_state(StaticFSM.State(Cooking))