def set_contained_state(label,
state,
loop_outcomes=[],
break_outcomes=[],
final_outcome_map={}):
"""Set the contained state
@type label: string
@param label: The label of the state being added.
@type state: L{smach.State}
@param state: An instance of a class implementing the L{smach.State} interface.
@param loop_outcomes: List of contained state outcomes that should cause
the iterator to continue. If this is empty, all outcomes that are not
in the break_outcomes list will cause the iterator to continue to
iterate. NOTE: loop_outcomes will be overriden by break_outcomes if both
parameters are used.
@param break_outcomes: List of contained state outcomes that should
cause the iterator to break. When the contained state emits an outcome
in this list, the container will terminate and return either that
outcome or the outcome it is mapped to in final_outcome_map. NOTE:
loop_outcomes will be overriden by break_outcomes if both
parameters are used.
@param final_outcome_map: A map from contained state outcomes to container
outcomes. On termination of the iterator (either from finishing or from
a break) this map will be used to translate contained state outcomes to
container outcomes.
Unspecified contained state outcomes will fall through as
container outcomes.
"""
# Get currently opened container
self = Iterator._currently_opened_container()
self._state_label = label
self._state = state
# Get potential state outcomes
state_outcomes = state.get_registered_outcomes()
# Check for loop and break outcomes
if loop_outcomes and break_outcomes:
smach.logwarn(
'Both loop_outcomes and break_outcomes were specified when constructing SMACH iterator container.'
)
if break_outcomes:
self._break_outcomes = break_outcomes
for outcome in state_outcomes:
if outcome not in break_outcomes:
self._loop_outcomes.append(outcome)
else:
self._loop_outcomes = loop_outcomes
for outcome in state_outcomes:
if outcome not in loop_outcomes:
self._break_outcomes.append(outcome)
self._final_outcome_map = final_outcome_map
def set_contained_state(
label,
state,
loop_outcomes = [],
break_outcomes = [],
final_outcome_map = {}):
"""Set the contained state
@type label: string
@param label: The label of the state being added.
@type state: L{smach.State}
@param state: An instance of a class implementing the L{smach.State} interface.
@param loop_outcomes: List of contained state outcomes that should cause
the iterator to continue. If this is empty, all outcomes that are not
in the break_outcomes list will cause the iterator to continue to
iterate. NOTE: loop_outcomes will be overriden by break_outcomes if both
parameters are used.
@param break_outcomes: List of contained state outcomes that should
cause the iterator to break. When the contained state emits an outcome
in this list, the container will terminate and return either that
outcome or the outcome it is mapped to in final_outcome_map. NOTE:
loop_outcomes will be overriden by break_outcomes if both
parameters are used.
@param final_outcome_map: A map from contained state outcomes to container
outcomes. On termination of the iterator (either from finishing or from
a break) this map will be used to translate contained state outcomes to
container outcomes.
Unspecified contained state outcomes will fall through as
container outcomes.
"""
# Get currently opened container
self = Iterator._currently_opened_container()
self._state_label = label
self._state = state
# Get potential state outcomes
state_outcomes = state.get_registered_outcomes()
# Check for loop and break outcomes
if loop_outcomes and break_outcomes:
smach.logwarn('Both loop_outcomes and break_outcomes were specified when constructing SMACH iterator container.')
if break_outcomes:
self._break_outcomes = break_outcomes
for outcome in state_outcomes:
if outcome not in break_outcomes:
self._loop_outcomes.append(outcome)
else:
self._loop_outcomes = loop_outcomes
for outcome in state_outcomes:
if outcome not in loop_outcomes:
self._break_outcomes.append(outcome)
self._final_outcome_map = final_outcome_map
def _copy_output_keys(self, ud, parent_ud):
if parent_ud is not None:
output_keys = self.get_registered_output_keys()
for ok in output_keys:
try:
parent_ud[ok] = ud[ok]
except KeyError:
smach.logwarn("Attempting to copy output key '%s', but this key does not exist." % ok)
def _copy_input_keys(self, parent_ud, ud):
if parent_ud is not None:
input_keys = self.get_registered_input_keys()
for ik in input_keys:
try:
ud[ik] = parent_ud[ik]
except KeyError:
smach.logwarn("Attempting to copy input key '%s', but this key does not exist." % ik)
def execute(self, parent_ud = smach.UserData()):
"""Run the state machine on entry to this state.
This will set the "closed" flag and spin up the execute thread. Once
this flag has been set, it will prevent more states from being added to
the state machine.
"""
# This will prevent preempts from getting propagated to non-existent children
with self._state_transitioning_lock:
# Check state consistency
try:
self.check_consistency()
except (smach.InvalidStateError, smach.InvalidTransitionError):
smach.logerr("Container consistency check failed.")
return None
# Set running flag
self._is_running = True
# Initialize preempt state
self._preempted_label = None
self._preempted_state = None
# Set initial state
self._set_current_state(self._initial_state_label)
# Copy input keys
self._copy_input_keys(parent_ud, self.userdata)
# Spew some info
smach.loginfo("State machine starting in initial state '%s' with userdata: \n\t%s" %
(self._current_label, list(self.userdata.keys())))
if self._preempt_requested:
smach.logwarn("Preempt on State machine requested before even executing initial state. This could be a bug. Did last execution not service preemption?")
# Call start callbacks
self.call_start_cbs()
# Initialize container outcome
container_outcome = None
# Step through state machine
while container_outcome is None and self._is_running and not smach.is_shutdown():
# Update the state machine
container_outcome = self._update_once()
# Copy output keys
self._copy_output_keys(self.userdata, parent_ud)
# We're no longer running
self._is_running = False
if self._preempt_requested:
self.service_preempt()
return container_outcome
def set_initial_state(self, initial_states, userdata):
if initial_states > 0:
if initial_states < len(self._states):
smach.logwarn("Attempting to set initial states in Concurrence"
" container, but Concurrence children are always"
" all executed initially, ignoring call.")
# Set local userdata
self.userdata.update(userdata)
def set_initial_state(self, initial_states, userdata):
if initial_states > 0:
if initial_states < len(self._states):
smach.logwarn("Attempting to set initial states in Concurrence"
" container, but Concurrence children are always"
" all executed initially, ignoring call.")
# Set local userdata
self.userdata.update(userdata)
def _copy_input_keys(self, parent_ud, ud):
if parent_ud is not None:
input_keys = self.get_registered_input_keys()
for ik in input_keys:
try:
ud[ik] = parent_ud[ik]
except KeyError:
smach.logwarn(
"Attempting to copy input key '%s', but this key does not exist."
% ik)
def _copy_output_keys(self, ud, parent_ud):
if parent_ud is not None:
output_keys = self.get_registered_output_keys()
for ok in output_keys:
try:
parent_ud[ok] = ud[ok]
except KeyError:
smach.logwarn(
"Attempting to copy output key '%s', but this key does not exist."
% ok)
def set_initial_state(self, initial_states, userdata=smach.UserData()):
smach.logdebug("Setting initial state to "+str(initial_states))
if len(initial_states) > 1:
smach.logwarn("Attempting to set initial state to include more than one state, but the StateMachine container can only have one initial state.")
# Set the initial state label
if len(initial_states) > 0:
self._initial_state_label = initial_states[0]
# Set local userdata
self.userdata.update(userdata)
def set_initial_state(self, initial_states, userdata=smach.UserData()):
smach.logdebug("Setting initial state to "+str(initial_states))
if len(initial_states) > 1:
smach.logwarn("Attempting to set initial state to include more than one state, but the StateMachine container can only have one initial state.")
# Set the initial state label
if len(initial_states) > 0:
self._initial_state_label = initial_states[0]
# Set local userdata
self.userdata.update(userdata)
def set_initial_state(self, initial_states, userdata):
# Check initial state
if len(initial_states) > 1:
smach.logwarn("Attempting to set initial state to include more than one state, but Iterator container can only have one initial state." % (self._state_label))
if len(initial_states) > 0:
if initial_states[0] != self._state_label:
smach.logwarn("Attempting to set state '%s' as initial state in Iterator container. The only available state is '%s'." % (initial_states[0], self._state_label))
raise KeyError()
# Set local userdata
self.userdata.update(userdata)
def request_preempt(self):
"""Propagate preempt to currently active state.
This will attempt to preempt the currently active state.
"""
with self._state_transitioning_lock:
smach.logwarn("Request preemption on state machine")
# Allways Set this container's preempted flag
self._preempt_requested = True
# Only propagate preempt if the current state is defined
if self._current_state is not None:
self._preempt_current_state()
def set_initial_state(self, initial_states, userdata=None):
"""Set initial active states of a container.
@type initial_states: list of string
@param initial_states: A description of the initial active state of this
container.
@type userdata: L{UserData}
@param userdata: Initial userdata for this container.
"""
with self._lock:
if userdata is None:
userdata = smach.UserData()
smach.logdebug("Setting initial states to " + str(initial_states))
if len(initial_states) > 1:
smach.logwarn(
"Attempting to set initial state to include more than"
" one state, but the BehaviorTreeContainer container can only"
" have one initial state. Taking the first one."
)
# Set the initial state label
if len(initial_states) > 0:
initial_state_label = initial_states[0]
# TODO We only support the root as initial state for now
# for proper support we'll want to walk the tree and set initial idx
# for every container on the path to the task with the specified
# label.
self._rebuild_unique_task_names()
try:
self._initial_task = self._task_for_label[initial_state_label]
except KeyError:
smach.logwarn("Unknown initial state '%s' requested", initial_state_label)
# Set local userdata
self.userdata.update(userdata)
def set_initial_state(self, initial_states, userdata=None):
"""Set initial active states of a container.
@type initial_states: list of string
@param initial_states: A description of the initial active state of this
container.
@type userdata: L{UserData}
@param userdata: Initial userdata for this container.
"""
with self._lock:
if userdata is None:
userdata = smach.UserData()
smach.logdebug("Setting initial states to " + str(initial_states))
if len(initial_states) > 1:
smach.logwarn("Attempting to set initial state to include more than"
" one state, but the BehaviorTreeContainer container can only"
" have one initial state. Taking the first one.")
# Set the initial state label
if len(initial_states) > 0:
initial_state_label = initial_states[0]
# TODO We only support the root as initial state for now
# for proper support we'll want to walk the tree and set initial idx
# for every container on the path to the task with the specified
# label.
self._rebuild_unique_task_names()
try:
self._initial_task = self._task_for_label[initial_state_label]
except KeyError:
smach.logwarn("Unknown initial state '%s' requested", initial_state_label)
# Set local userdata
self.userdata.update(userdata)
def execute(self, parent_ud=smach.UserData()):
"""Overridden execute method.
This starts all the threads.
"""
# Clear the ready event
self._ready_event.clear()
# Reset child outcomes
self._child_outcomes = {}
# Copy input keys
self._copy_input_keys(parent_ud, self.userdata)
# Spew some info
smach.loginfo("Concurrence starting with userdata: \n\t%s" % (str(list(self.userdata.keys()))))
# Call start callbacks
self.call_start_cbs()
# Create all the threads
for (label, state) in ((k, self._states[k]) for k in self._states):
# Initialize child outcomes
self._child_outcomes[label] = None
self._threads[label] = threading.Thread(
name="concurrent_split:" + label, target=self._state_runner, args=(label,)
)
# Launch threads
for thread in self._threads.values():
thread.start()
# Wait for done notification
self._done_cond.acquire()
# Notify all threads ready to go
self._ready_event.set()
# Wait for a done notification from a thread
self._done_cond.wait()
self._done_cond.release()
# Preempt any running states
smach.logdebug("SMACH Concurrence preempting running states.")
for label in self._states:
if self._child_outcomes[label] == None:
self._states[label].request_preempt()
# Wait for all states to terminate
while not smach.is_shutdown():
if all([not t.isAlive() for t in self._threads.values()]):
break
self._done_cond.acquire()
self._done_cond.wait(0.1)
self._done_cond.release()
# Check for user code exception
if self._user_code_exception:
self._user_code_exception = False
raise smach.InvalidStateError("A concurrent state raised an exception during execution.")
# Check for preempt
if self.preempt_requested():
# initialized serviced flag
children_preempts_serviced = True
# Service this preempt if
for (label, state) in ((k, self._states[k]) for k in self._states):
if state.preempt_requested():
# Reset the flag
children_preempts_serviced = False
# Complain
smach.logwarn("State '%s' in concurrence did not service preempt." % label)
# Recall the preempt if it hasn't been serviced
state.recall_preempt()
if children_preempts_serviced:
smach.loginfo("Concurrence serviced preempt.")
self.service_preempt()
# Spew some debyg info
smach.loginfo("Concurrent Outcomes: " + str(self._child_outcomes))
# Initialize the outcome
outcome = self._default_outcome
# Determine the outcome from the outcome map
smach.logdebug("SMACH Concurrence determining contained state outcomes.")
for (container_outcome, outcomes) in ((k, self._outcome_map[k]) for k in self._outcome_map):
if all([self._child_outcomes[label] == outcomes[label] for label in outcomes]):
smach.logdebug("Terminating concurrent split with mapped outcome.")
outcome = container_outcome
# Check outcome callback
if self._outcome_cb:
try:
cb_outcome = self._outcome_cb(copy.copy(self._child_outcomes))
if cb_outcome:
if cb_outcome == str(cb_outcome):
outcome = cb_outcome
else:
smach.logerr(
"Outcome callback returned a non-string '%s', using default outcome '%s'"
% (str(cb_outcome), self._default_outcome)
)
else:
smach.logwarn("Outcome callback returned None, using outcome '%s'" % outcome)
except:
raise smach.InvalidUserCodeError(
("Could not execute outcome callback '%s': " % self._outcome_cb) + traceback.format_exc()
)
# Cleanup
self._threads = {}
self._child_outcomes = {}
# Call termination callbacks
self.call_termination_cbs(list(self._states.keys()), outcome)
# Copy output keys
self._copy_output_keys(self.userdata, parent_ud)
return outcome
def execute(self, parent_ud=smach.UserData()):
"""Overridden execute method.
This starts all the threads.
"""
# Clear the ready event
self._ready_event.clear()
# Reset child outcomes
self._child_outcomes = {}
# Copy input keys
self._copy_input_keys(parent_ud, self.userdata)
## Copy the datamodel's value into the userData
for data in self._datamodel:
if (self._datamodel[data] != ""):
self.userdata[data] = self._datamodel[data]
## Do the <onentry>
if (self._onEntry is not None):
try:
self._onEntry.execute(self.userdata)
except Exception as ex:
rospy.logerr('%s::onEntry::execute() raised | %s' %
(self.__class__.__name__, str(ex)))
return "preempt"
# Spew some info
smach.loginfo("Concurrence starting with userdata: \n\t%s" %
(str(list(self.userdata.keys()))))
# Call start callbacks
self.call_start_cbs()
# Create all the threads
for (label, state) in ((k, self._states[k]) for k in self._states):
# Initialize child outcomes
self._child_outcomes[label] = None
self._threads[label] = threading.Thread(name='concurrent_split:' +
label,
target=self._state_runner,
args=(label, ))
# Launch threads
for thread in self._threads.values():
thread.start()
# Wait for done notification
self._done_cond.acquire()
# Notify all threads ready to go
self._ready_event.set()
# Wait for a done notification from a thread
self._done_cond.wait()
self._done_cond.release()
# Preempt any running states
smach.logdebug("SMACH Concurrence preempting running states.")
for label in self._states:
if self._child_outcomes[label] == None:
self._states[label].request_preempt()
# Wait for all states to terminate
while not smach.is_shutdown():
if all([not t.isAlive() for t in self._threads.values()]):
break
self._done_cond.acquire()
self._done_cond.wait(0.1)
self._done_cond.release()
# Check for user code exception
if self._user_code_exception:
self._user_code_exception = False
raise smach.InvalidStateError(
"A concurrent state raised an exception during execution.")
# Check for preempt
if self.preempt_requested():
# initialized serviced flag
children_preempts_serviced = True
# Service this preempt if
for (label, state) in ((k, self._states[k]) for k in self._states):
if state.preempt_requested():
# Reset the flag
children_preempts_serviced = False
# Complain
smach.logwarn(
"State '%s' in concurrence did not service preempt." %
label)
# Recall the preempt if it hasn't been serviced
state.recall_preempt()
if children_preempts_serviced:
smach.loginfo("Concurrence serviced preempt.")
self.service_preempt()
# Spew some debyg info
smach.loginfo("Concurrent Outcomes: " + str(self._child_outcomes))
# Initialize the outcome
outcome = self._default_outcome
# Determine the outcome from the outcome map
smach.logdebug(
"SMACH Concurrence determining contained state outcomes.")
for (container_outcome, outcomes) in ((k, self._outcome_map[k])
for k in self._outcome_map):
if all([
self._child_outcomes[label] == outcomes[label]
for label in outcomes
]):
smach.logdebug(
"Terminating concurrent split with mapped outcome.")
outcome = container_outcome
# Check outcome callback
if self._outcome_cb:
try:
cb_outcome = self._outcome_cb(copy.copy(self._child_outcomes))
if cb_outcome:
if cb_outcome == str(cb_outcome):
outcome = cb_outcome
else:
smach.logerr(
"Outcome callback returned a non-string '%s', using default outcome '%s'"
% (str(cb_outcome), self._default_outcome))
else:
smach.logwarn(
"Outcome callback returned None, using outcome '%s'" %
outcome)
except:
raise smach.InvalidUserCodeError(
("Could not execute outcome callback '%s': " %
self._outcome_cb) + traceback.format_exc())
# Cleanup
self._threads = {}
self._child_outcomes = {}
# Call termination callbacks
self.call_termination_cbs(list(self._states.keys()), outcome)
## Do the <onexit>
if (self._onExit is not None):
try:
outcome = self._onExit.execute(self.userdata, outcome)
except Exception as ex:
rospy.logerr('%s::onExit::execute() raised | %s' %
(self.__class__.__name__, str(ex)))
return "preempt"
# Copy output keys
self._copy_output_keys(self.userdata, parent_ud)
return outcome
def _update_once(self):
"""Method that updates the state machine once.
This checks if the current state is ready to transition, if so, it
requests the outcome of the current state, and then extracts the next state
label from the current state's transition dictionary, and then transitions
to the next state.
"""
outcome = None
transition_target = None
last_state_label = self._current_label
# Make sure the state exists
if self._current_label not in self._states:
raise smach.InvalidStateError("State '%s' does not exist. Available states are: %s" %
(self._current_label, list(self._states.keys())))
# Check if a preempt was requested before or while the last state was running
if self.preempt_requested():
smach.logwarn("Preempt requested on state machine before executing the next state.")
# We were preempted
if self._preempted_state is not None:
# We were preempted while the last state was running
if self._preempted_state.preempt_requested():
smach.logwarn("Last state '%s' did not service preempt. Preempting next state '%s' before executing..." % (self._preempted_label, self._current_label))
# The flag was not reset, so we need to keep preempting
# (this will reset the current preempt)
self._preempt_current_state()
else:
# The flag was reset, so the container can reset
smach.logwarn("Preemption flag on preempted state '%s' was reset. Container can reset and continue..." % (self._preempted_label))
smach.logwarn("This could be errornous because state machine should preempt and we still continue. Most likely we will just preempt execution")
self._preempt_requested = False
self._preempted_state = None
else:
# We were preempted after the last state was running
# So we should preempt this state before we execute it
smach.logwarn("State Machine preempted after the last state was running. Preempting this state '%s' before executing..." %self._current_label)
self._preempt_current_state()
# Execute the state
try:
self._state_transitioning_lock.release()
outcome = self._current_state.execute(
smach.Remapper(
self.userdata,
self._current_state.get_registered_input_keys(),
self._current_state.get_registered_output_keys(),
self._remappings[self._current_label]))
self._current_outcome = outcome
except smach.InvalidUserCodeError as ex:
smach.logerr("State '%s' failed to execute." % self._current_label)
raise ex
except:
raise smach.InvalidUserCodeError("Could not execute state '%s' of type '%s': " %
(self._current_label, self._current_state)
+ traceback.format_exc())
finally:
self._state_transitioning_lock.acquire()
# Check if outcome was a potential outcome for this type of state
if outcome not in self._current_state.get_registered_outcomes():
raise smach.InvalidTransitionError(
"Attempted to return outcome '%s' from state '%s' of"
" type '%s' which only has registered outcomes: %s" %
(outcome,
self._current_label,
self._current_state,
self._current_state.get_registered_outcomes()))
# Check if this outcome is actually mapped to any target
if outcome not in self._current_transitions:
raise smach.InvalidTransitionError("Outcome '%s' of state '%s' is not bound to any transition target. Bound transitions include: %s" %
(str(outcome), str(self._current_label), str(self._current_transitions)))
# Set the transition target
transition_target = self._current_transitions[outcome]
# Check if the transition target is a state in this state machine, or an outcome of this state machine
if not self._shutdown_requested and transition_target in self._states:
# Set the new state
self._set_current_state(transition_target)
# Spew some info
smach.loginfo("State machine transitioning '%s':'%s'-->'%s'" %
(last_state_label, outcome, transition_target))
# Call transition callbacks
self.call_transition_cbs()
else:
# This is a terminal state
if self._preempt_requested and self._preempted_state is not None:
if not self._current_state.preempt_requested():
self.service_preempt()
if transition_target not in self.get_registered_outcomes():
# This is a container outcome that will fall through
transition_target = outcome
if transition_target in self.get_registered_outcomes() or self._shutdown_requested:
# The transition target is an outcome of the state machine
self._set_current_state(None)
# Spew some info
smach.loginfo("State machine terminating '%s':'%s':'%s'" %
(last_state_label, outcome, transition_target))
# Call termination callbacks
self.call_termination_cbs([last_state_label],transition_target)
return transition_target
else:
raise smach.InvalidTransitionError("Outcome '%s' of state '%s' with transition target '%s' is neither a registered state nor a registered container outcome." %
(outcome, self._current_label, transition_target))
return None