def _xcf_subscribe(state, memory, xpath, handler, actions=xcf.INSERT | xcf.REPLACE):
# once, define _xcf_events and register enter/exit handlers to actually subscribe/unsubscribe events
if not hasattr(state, '_xcf_events'):
# define _xcf_events attribute
state._xcf_events = []
# on enter, subscribe to topics
state.add_handler('enter', lambda event: _subscribe_xcf_events(state, event))
# on exit, unsubscribe
state.add_handler('exit', lambda event: _unsubscribe_xcf_events(state, event))
# a string "handler" is interpreted as an event to be triggered
if isinstance(handler, string_types):
name = handler # need to use another name!
handler = lambda data: state.root.dispatch(Event(name, msg=data))
# actually register the event
state._xcf_events.append(_XCFEvent(memory, xpath, actions, handler))
def _ros_subscribe(state, topic, msg_type, handler):
# once, define _ros_events and register enter/exit handlers to actually subscribe/unsubscribe events
if not hasattr(state, '_ros_events'):
# define _ros_events attribute
state._ros_events = []
# on enter, subscribe to topics
state.add_handler('enter',
lambda event: _subscribe_ros_events(state, event))
# on exit, unsubscribe
state.add_handler('exit',
lambda event: _unsubscribe_ros_events(state, event))
# a string "handler" is interpreted as an event to be triggered
if isinstance(handler, string_types):
name = handler # need to use another name!
handler = lambda data: state.root.dispatch(Event(name, msg=data))
# actually register the event
state._ros_events.append(_ROSEvent(topic, msg_type, handler))
def on_timeout(self):
print('Timeout...')
self.sm.dispatch(Event('timeout', oven=self))
self.timer = threading.Timer(Oven.TIMEOUT, self.on_timeout)
def close_door(self):
self.sm.dispatch(Event('close', oven=self))
def open_door(self):
self.sm.dispatch(Event('open', oven=self))
def toast(self):
self.sm.dispatch(Event('toast', oven=self))
def bake(self):
self.sm.dispatch(Event('bake', oven=self))