def gen_states_str(self):
"""
Return a string version of the states parameters for the
ConcurrentState.
"""
states_str = "{"
# Key should be in quotes, but not the value
dict_items = ["'{0}': {1}".format(label, class_decl_to_string(class_decl))
for (label, class_decl)
in self.internal_states.items()]
states_str += ", ".join(dict_items)
states_str += "}"
return states_str
def gen_states_str(self):
"""
Return a string version of the states parameters for the
ConcurrentState.
"""
states_str = "{"
# Key should be in quotes, but not the value
dict_items = [
"'{0}': {1}".format(label, class_decl_to_string(class_decl))
for (label, class_decl) in self.internal_states.items()
]
states_str += ", ".join(dict_items)
states_str += "}"
return states_str
def get_out_map(self, class_decl):
"""Get the output mapping associated with a class declaration."""
class_decl_str = class_decl_to_string(class_decl)
return self.class_decl_to_out_map[class_decl_str]
def __init__(self, config, all_in_vars, all_out_vars, automata):
self.config = config
# List of in/out vars of the substates
self.all_in_vars = all_in_vars
self.all_out_vars = all_out_vars
self.automata = automata
# Map from what a substate thinks is the final transition to what it
# actually should be (e.g. "done" -> "finished")
self.sm_fake_out_to_real_out = config['output']
# List of outputs of the entire SM
self.sm_fake_outputs = self.sm_fake_out_to_real_out.keys()
# To exit this SM, we find states that should exit. At the end, we'll
# make any transition that goes to one of these states go to the real
# output.
self.state_name_to_sm_output = self.get_state_name_to_sm_output()
"""
Populate various dictionaries to future functions. These lines
should should be at the end of the initializer
"""
# what class declaration goes with an input variable?
self.in_var_to_class_decl = {}
# to map response variables back to their activation variable
self.in_var_to_out_var = {}
# the map from class declaration to its out_map
self.class_decl_to_out_map = {}
try:
for out_var, var_config in self.config.items():
# If class_decl isn't in var_config,
# it's not configuration for a state
if 'class_decl' not in var_config:
continue
class_decl = var_config['class_decl']
out_map = var_config['output_mapping']
class_decl_str = class_decl_to_string(class_decl)
self.class_decl_to_out_map[class_decl_str] = out_map
for in_var, state_outcome in out_map.items():
# check if this is a response variable
if in_var in self.all_in_vars and out_var in self.all_out_vars:
self.in_var_to_class_decl[in_var] = class_decl
self.in_var_to_out_var[in_var] = out_var
# Make one more pass to handle environment propositions
for in_var in self.all_in_vars:
if not self.is_response_var(in_var): # it's a sensor prop
var_config = self.config[in_var]
class_decl = var_config['class_decl']
out_map = var_config['output_mapping']
class_decl_str = class_decl_to_string(class_decl)
self.class_decl_to_out_map[class_decl_str] = out_map
except KeyError:
rospy.logerr("The configuration file is invalid.")
raise SMGenError(SynthesisErrorCodes.CONFIG_FILE_INVALID)
