def _build_structure_msg(self):
"""
Creates a message to describe the structure of this state machine.
"""
structure_msg = ContainerStructure()
container_msg = self._add_to_structure_msg(structure_msg)
container_msg.outcomes = self.outcomes
structure_msg.behavior_id = self.id
return structure_msg
def _build_msg(self, prefix, msg=None):
"""
Adds this state machine to the initial structure message.
@type prefix: string
@param prefix: A path consisting of the container hierarchy containing this state.
@type msg: ContainerStructure
@param msg: The message that will finally contain the structure message.
"""
# set children
children = []
for state in self._ordered_states:
children.append(str(state.name))
# set name
name = prefix + (self.name if self.id is None else '')
if msg is None:
# top-level state machine (has no transitions)
self._message = ContainerStructure()
outcomes = list(self._outcomes)
transitions = None
autonomy = None
else:
# lower-level state machine
self._message = msg
outcomes = list(self.transitions)
# set transitions and autonomy
transitions = []
autonomy = []
for i in range(len(self.transitions)):
outcome = outcomes[i]
if outcome == 'preempted': # set preempt transition
transitions.append('preempted')
autonomy.append(-1)
else:
transitions.append(str(self.transitions[outcome]))
autonomy.append(self.autonomy[outcome])
# add to message
self._message.containers.append(
Container(name, children, outcomes, transitions, autonomy))
# build message for children
for state in self._ordered_states:
state._build_msg(name + '/', self._message)
# top-level state machine returns the message
if msg is None:
return self._message