def 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.
"""
self.name = name
self.id = id
self._pub.createPublisher('/flexbe/mirror/sync', BehaviorSync, _latch = True) # Update mirror with currently active state (high bandwidth mode)
self._pub.createPublisher('/flexbe/mirror/preempt', Empty, _latch = True) # Preempts the mirror
self._pub.createPublisher('/flexbe/mirror/structure', ContainerStructure) # Sends the current structure to the mirror
self._pub.createPublisher('/flexbe/log', BehaviorLog) # Topic for logs to the GUI
self._pub.createPublisher('/flexbe/command_feedback', CommandFeedback) # Gives feedback about executed commands to the GUI
self._sub.subscribe('/flexbe/command/autonomy', UInt8, self._set_autonomy_level)
self._sub.subscribe('/flexbe/command/sync', Empty, self._sync_callback)
self._sub.subscribe('/flexbe/request_mirror_structure', Int32, self._mirror_structure_callback)
StateLogger.initialize(name)
if OperatableStateMachine.autonomy_level != 255:
self._enable_ros_control()
rospy.sleep(0.5) # no clean way to wait for publisher to be ready...
self._notify_start()
def 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.
"""
self.name = name
self.id = id
self._pub.createPublisher('/flexbe/mirror/sync', BehaviorSync, _latch = True) # Update mirror with currently active state (high bandwidth mode)
self._pub.createPublisher('/flexbe/mirror/preempt', Empty, _latch = True) # Preempts the mirror
self._pub.createPublisher('/flexbe/mirror/structure', ContainerStructure) # Sends the current structure to the mirror
self._pub.createPublisher('/flexbe/log', BehaviorLog) # Topic for logs to the GUI
self._pub.createPublisher('/flexbe/command_feedback', CommandFeedback) # Gives feedback about executed commands to the GUI
self._sub.subscribe('/flexbe/command/autonomy', UInt8, self._set_autonomy_level)
self._sub.subscribe('/flexbe/command/sync', Empty, self._sync_callback)
self._sub.subscribe('/flexbe/request_mirror_structure', Int32, self._mirror_structure_callback)
StateLogger.initialize(name)
if OperatableStateMachine.autonomy_level != 255:
self._enable_ros_control()
rospy.sleep(0.5) # no clean way to wait for publisher to be ready...
self._notify_start()
