def _operatable_execute(self, *args, **kwargs):
outcome = self.__execute(*args, **kwargs)
if self._is_controlled:
log_requested_outcome = outcome
# request outcome because autonomy level is too low
if not self._force_transition and (self.autonomy.has_key(outcome) and self.autonomy[outcome] >= OperatableStateMachine.autonomy_level):
if self._sent_outcome_requests.count(outcome) == 0:
self._pub.publish(self._request_topic, OutcomeRequest(outcome=self._outcome_list.index(outcome), target=self._parent._get_path() + "/" + self.name))
rospy.loginfo("<-- Want result: %s > %s", self.name, outcome)
StateLogger.log_state_execution(self._get_path(), self.__class__.__name__, outcome, not self._force_transition, False)
self._sent_outcome_requests.append(outcome)
outcome = OperatableState._loopback_name
# autonomy level is high enough, report the executed transition
elif outcome != OperatableState._loopback_name:
self._sent_outcome_requests = []
rospy.loginfo("State result: %s > %s", self.name, outcome)
self._pub.publish(self._outcome_topic, UInt8(self._outcome_list.index(outcome)))
StateLogger.log_state_execution(self._get_path(), self.__class__.__name__, outcome, not self._force_transition, True)
self._force_transition = False
return outcome
def _operatable_execute(self, *args, **kwargs):
outcome = self.__execute(*args, **kwargs)
if self._is_controlled:
# reset previously requested outcome if applicable
if self._last_requested_outcome is not None and outcome == OperatableState._loopback_name:
self._pub.publish(self._request_topic, OutcomeRequest(outcome=255, target=self._parent._get_path() + "/" + self.name))
self._last_requested_outcome = None
# request outcome because autonomy level is too low
if not self._force_transition and (self.autonomy.has_key(outcome) and self.autonomy[outcome] >= OperatableStateMachine.autonomy_level or
outcome != OperatableState._loopback_name and
self._get_path() in rospy.get_param('/flexbe/breakpoints', [])):
if outcome != self._last_requested_outcome:
self._pub.publish(self._request_topic, OutcomeRequest(outcome=self._outcome_list.index(outcome), target=self._parent._get_path() + "/" + self.name))
rospy.loginfo("<-- Want result: %s > %s", self.name, outcome)
StateLogger.log_state_execution(self._get_path(), self.__class__.__name__, outcome, not self._force_transition, False)
self._last_requested_outcome = outcome
outcome = OperatableState._loopback_name
# autonomy level is high enough, report the executed transition
elif outcome != OperatableState._loopback_name:
self._sent_outcome_requests = []
rospy.loginfo("State result: %s > %s", self.name, outcome)
self._pub.publish(self._outcome_topic, UInt8(self._outcome_list.index(outcome)))
self._pub.publish(self._debug_topic, String("%s > %s" % (self._get_path(), outcome)))
StateLogger.log_state_execution(self._get_path(), self.__class__.__name__, outcome, not self._force_transition, True)
self._force_transition = False
return outcome
def _operatable_execute(self, *args, **kwargs):
outcome = self.__execute(*args, **kwargs)
if self._is_controlled:
log_requested_outcome = outcome
# request outcome because autonomy level is too low
if not self._force_transition and (
self.autonomy.has_key(outcome) and self.autonomy[outcome]
>= OperatableStateMachine.autonomy_level):
if self._sent_outcome_requests.count(outcome) == 0:
self._pub.publish(
self._request_topic,
OutcomeRequest(
outcome=self._outcome_list.index(outcome),
target=self._parent._get_path() + "/" + self.name))
rospy.loginfo("<-- Want result: %s > %s", self.name,
outcome)
StateLogger.log_state_execution(self._get_path(),
self.__class__.__name__,
outcome,
not self._force_transition,
False)
self._sent_outcome_requests.append(outcome)
outcome = OperatableState._loopback_name
# autonomy level is high enough, report the executed transition
elif outcome != OperatableState._loopback_name:
self._sent_outcome_requests = []
rospy.loginfo("State result: %s > %s", self.name, outcome)
self._pub.publish(self._outcome_topic,
UInt8(self._outcome_list.index(outcome)))
self._pub.publish(
self._debug_topic,
String("%s > %s" % (self._get_path(), outcome)))
StateLogger.log_state_execution(self._get_path(),
self.__class__.__name__,
outcome,
not self._force_transition,
True)
self._force_transition = False
return outcome
