data = [data]
except Exception as e:
smach.logwarn('Failed to parse data keys for CSV file writing: {}'.format(repr(e)))
return 'aborted'
# Write to CSV file
try:
with open(userdata.file, 'w') as fp:
writer = csv.writer(fp, delimiter=self._delimiter)
if header:
writer.writerow(header)
writer.writerows(data)
except Exception as e:
smach.logwarn('Failed to write to CSV file \'{}\': {}'.format(userdata.file, repr(e)))
return 'aborted'
# Write the header as output key if required.
if 'header' in self._output_keys:
userdata.header = header
return 'succeeded'
{% do defined_headers.append('class_WriteCSVFileState') %}{% endif %}
{% endblock class_defs %}
{% block body %}
smach.{{ parent_type }}.add('{{ name }}',
{{ '' | indent(23, true) }}WriteCSVFileState({% if delimiter is defined %}delimiter='{{ delimiter }}'{% endif %}{% if input_keys is defined %}{% if delimiter is defined %}, {% endif %}{{ render_input_keys(input_keys, indent=0) }}{% endif %}{% if output_keys is defined %}{% if input_keys is defined or delimiter is defined %}, {% endif %}{{ render_output_keys(output_keys, indent=0) }}{% endif %}{% if callbacks is defined %}, {{ render_callbacks(name, uuid, callbacks, indent=0) }}{% endif %}){% if transitions is defined %},
{{ render_transitions(transitions) }}{% endif %}{% if remapping is defined %},
{{ render_remapping(remapping) }}{% endif %})
{% endblock body %}
{% from "Utils.tpl.py" import render_outcomes, render_outcome_map, render_input_keys, render_output_keys, render_userdata, render_transitions, render_remapping %}
{% set sm_name = ['sm_', name | lower()] | join() %}
{% block upper_comments %}
#----------------------------------------------------------------------------------------
# BEGIN: {{ name }}
# TEMPLATE: Concurrence
#
{% endblock upper_comments %}
{% block body %}
{{ sm_name }} = smach.Concurrence({{ render_outcomes(outcomes) }},
{{ 'default_outcome=' | indent(35, true) }}'{{ default_outcome }}',
{{ render_outcome_map(outcome_map) }}{% if input_keys is defined %},
{{ render_input_keys(input_keys, indent=35) }}{% endif %}{% if output_keys is defined %},
{{ render_output_keys(output_keys) }}{% endif %})
{# Container header insertion variable indexed by container state name #}
{% if name in header %}{{ header[name] }}{% endif %}
{# Render container userdata #}
{% if userdata is defined %}{{ render_userdata(name | lower(), userdata) }}{% endif %}
{# Render state userdat #}
{% if name in header_userdata %}{{ header_userdata[name] | indent(4, true) }}{% endif %}
with {{ sm_name }}:
{# Container body insertion variable #}
{{ body | indent(4) }}
rospy.loginfo('Userdata input key \'{}\' BEFORE callback execution: {}'.format(input_key, userdata[input_key]))
{{ render_execute_callbacks() }}
for input_key in self._input_keys:
rospy.loginfo('Userdata input key \'{}\' AFTER callback execution: {}'.format(input_key, userdata[input_key]))
return 'succeeded'
{% do defined_headers.append('class_Foo') %}{% endif %}
{% endblock class_defs %}
{% block cb_defs %}
{% if callbacks is defined %}
{% if input_keys is defined %}
{{ render_def_lambda_callbacks(defined_headers, 'Foo', name, uuid, input_keys, outcomes, callbacks) }}
{% else %}
{{ render_def_lambda_callbacks(defined_headers, 'Foo', name, uuid, [], outcomes, callbacks) }}
{% endif %}
{% endif %}
{% endblock cb_defs %}
{% block header_userdata %}
{% if userdata is defined %}{{ render_userdata(parent_sm_name, userdata) }}{% endif %}
{% endblock header_userdata %}
{% block body %}
smach.{{ parent_type }}.add('{{ name }}', Foo('{{ name }}'{% if input_keys is defined %}, {{ render_input_keys(input_keys, indent=0) }}{% endif %}{% if output_keys is defined %}, {{ render_output_keys(output_keys, indent=0) }}{% endif %}{% if callbacks is defined %}, {{ render_callbacks(name, uuid, callbacks, indent=0) }}{% endif %}){% if transitions is defined %},
{{ render_transitions(transitions) }}{% endif %}{% if remapping is defined %},
{{ render_remapping(remapping) }}{% endif %})
{% endblock body %}
The names of the userdata input keys needed for the request callback.
type: list of str
- - output_keys:
description:
The names of the userdata output keys needed for the response callback.
type: list of str
- - userdata:
description:
The definitions for the userdata keys named in the input_keys and
output_keys variables.
type: dict of str
{% endblock meta %}
{% from "Utils.tpl.py" import render_request_slots, render_input_keys, render_response_slots, render_output_keys, render_transitions, render_remapping %}
{% extends "State.tpl.py" %}
{% block body %}
smach.{{ parent_type }}.add('{{ name }}',
{{ '' | indent(23, true) }}smach_ros.ServiceState('{{ service_namespace }}', {{ service }}{% if request is defined %},
{{ 'request = ' | indent(51, true) }}{{ request }}{% elif request_slots is defined %},
{{ render_request_slots(request_slots) }}{% elif request_cb is defined %},
{{ 'request_cb = ' | indent(51, true) }}{{ request_cb }}{% if input_keys is defined %},
{{ render_input_keys(input_keys) }}{% endif %}{% endif %}{% if response_slots is defined %},
{{ render_response_slots(response_slots) }}{% elif response_cb is defined %},
{{ 'response_cb = ' | indent(51, true) }}{{ response_cb }}{% if output_keys is defined %},
{{ render_output_keys(output_keys) }}{% endif %}{% endif %}){% if transitions is defined %},
{{ render_transitions(transitions) }}{% endif %}{% if remapping is defined %},
{{ render_remapping(remapping) }}{% endif %})
{% endblock body %}
{% block main_def %}
{{ super() }}
{% if 'msg_publisher' not in defined_headers %}
msg_publisher = MsgPublisher()
{% do defined_headers.append('msg_publisher') %}{% endif %}
{% endblock main_def %}
{% block header %}
{{ super() }}
{#
# By using this bit of trickery, we ensure that the mandatory userdata variables
# 'rate' and 'topic' get defined as an empty string before any other userdata
# variables are defined (these are rendered via the 'header_userdata' block
# usually, which is rendered after the 'header' block). This allows for the
# specification of 'rate' and 'topic' to be omitted in the SMACHA script state
# definitions to simplify scripts under certain circumstances,
# e.g. 'topic' can be omitted when the 'action' variable is set to 'stop_all'.
#}
{% if mandatory_userdata is not defined %}{% set mandatory_userdata = dict() %}{% endif %}
{% if 'rate' not in mandatory_userdata.keys() %}{% set _dummy = mandatory_userdata.update({'rate':100.0}) %}{% endif %}
{% if action == 'stop_all' and 'topic' not in mandatory_userdata.keys() %}{% set _dummy = mandatory_userdata.update({'topic':''}) %}{% endif %}
{% if mandatory_userdata is defined %}{{ render_userdata(parent_sm_name, mandatory_userdata) }}{% endif %}
{% endblock header %}
{% block body %}
smach.{{ parent_type }}.add('{{ name }}',
{{ '' | indent(23, true) }}{{ class_name }}('{{ name }}', msg_publisher, '{{ action }}'{% if input_keys is defined %}, {{ render_input_keys(input_keys, indent=0) }}{% endif %}{% if output_keys is defined %}, {{ render_output_keys(output_keys, indent=0) }}{% endif %}{% if callbacks is defined %}, {{ render_callbacks(name, uuid, callbacks, indent=0) }}{% endif %}){% if transitions is defined %},
{{ render_transitions(transitions) }}{% endif %}{% if remapping is defined %},
{{ render_remapping(remapping) }}{% endif %})
{% endblock body %}
# Transform the msg
try:
if 'msg_type' in self._input_keys:
transformed_msg = self._transform_msg(parsed_msg, transform, msg_type=userdata.msg_type)
else:
transformed_msg = self._transform_msg(parsed_msg, transform)
except Exception as e:
rospy.logerr('Error when transforming msg: ' + repr(e))
return 'aborted'
# Set point output key if specified
for output_key in ['msg', 'output_msg', 'msg_output']:
if output_key in self._output_keys:
setattr(userdata, output_key, transformed_msg)
# Set transform output key if specified
for output_key in ['transform', 'output_transform', 'transform_output']:
if output_key in self._output_keys:
setattr(userdata, output_key, transform)
return 'succeeded'
{% do defined_headers.append('class_TransformMsgState') %}{% endif %}
{% endblock class_defs %}
{% block body %}
smach.{{ parent_type }}.add('{{ name }}',
{{ '' | indent(23, true) }}TransformMsgState({% if transform_type is defined %}transform_type = '{{ transform_type }}'{% endif %}{% if input_keys is defined %}{% if transform_type is defined %}, {% endif %}{{ render_input_keys(input_keys, indent=0) }}{% endif %}{% if output_keys is defined %}{% if transform_type is defined or input_keys is defined %}, {% endif %}{{ render_output_keys(output_keys, indent=0) }}{% endif %}{% if callbacks is defined %}, {{ render_callbacks(name, uuid, callbacks, indent=0) }}{% endif %}){% if transitions is defined %},
{{ render_transitions(transitions) }}{% endif %}{% if remapping is defined %},
{{ render_remapping(remapping) }}{% endif %})
{% endblock body %}
{% endif %}
{% endblock cb_defs %}
{% block main_def %}
{% endblock main_def %}
{% block header %}
{% endblock header %}
{% block header_userdata %}
{% if userdata is defined %}{{ render_userdata(parent_sm_name, userdata) }}{% endif %}
{% endblock header_userdata %}
{% block body %}
smach.{{ parent_type }}.add('{{ name }}',
{{ '' | indent(23, true) }}{{ class_name }}({% if input_keys is defined %}{{ render_input_keys(input_keys, indent=0) }}{% endif %}{% if output_keys is defined %}{% if input_keys is defined %}, {% endif %}{{ render_output_keys(output_keys, indent=0) }}{% endif %}{% if callbacks is defined %}{% if input_keys is defined or output_keys is defined %}, {% endif %}{{ render_callbacks(name, uuid, callbacks, indent=0) }}{% endif %}{% if outcomes is defined %}{% if input_keys is defined or output_keys is defined or callbacks is defined %}, {% endif %}{{ render_outcomes(outcomes, indent=0) }}{% endif %}){% if transitions is defined %},
{{ render_transitions(transitions) }}{% endif %}{% if remapping is defined %},
{{ render_remapping(remapping) }}{% endif %})
{% endblock body %}
{% block footer %}
{% endblock footer %}
{% block introspection_server %}
{% endblock introspection_server %}
{% block execute %}
{% endblock execute %}
{% block spin %}
{% endblock spin %}
{% endblock meta %}
{% from "Utils.tpl.py" import render_outcomes, render_input_keys, render_output_keys, render_userdata, render_transitions, render_remapping %}
{% set sm_name = ['sm_', name | lower()] | join() %}
{% block upper_comments %}
#----------------------------------------------------------------------------------------
# BEGIN: {{ name }}
# TEMPLATE: StateMachine
#
{% endblock upper_comments %}
{% block body %}
{{ sm_name }} = smach.StateMachine({{ render_outcomes(outcomes) }}{% if input_keys is defined %},
{{ render_input_keys(input_keys) }}{% endif %}{% if output_keys is defined %},
{{ render_output_keys(output_keys) }}{% endif %})
{# Base container header insertion variable indexed by container state name #}
{% if name in header %}{{ header[name] }}{% endif %}
{# Render base container userdata #}
{% if userdata is defined %}{{ render_userdata('sm_' + (name | lower()), userdata) }}{% endif %}
{# Render state userdata #}
{% if name in header_userdata %}{{ header_userdata[name] }}{% endif %}
with {{ sm_name }}:
{# Base container body insertion variable #}
{{ body | indent(4) }}
