def execute(self, ud):
start_time = rospy.Time.now()
n_checks = 0
outcome = 'false'
while self._max_checks == -1 or n_checks <= self._max_checks:
# Check for timeout
if self._timeout and rospy.Time.now() - start_time > self._timeout:
break
# Check for preemption
if self.preempt_requested():
self.service_preempt()
outcome = 'preempted'
break
# Call the condition
try:
if self._cond_cb(ud):
outcome = 'true'
break
except:
raise smach.InvalidUserCodeError("Error thrown while executing condition callback %s: " % str(
self._cond_cb) + traceback.format_exc())
n_checks += 1
rospy.sleep(self._poll_rate)
if self.preempt_requested():
self.service_preempt()
outcome = 'preempted'
return outcome
def execute(self, ud):
rate = self.node.create_rate(1 / self._poll_rate)
start_time = self.node.get_clock().now()
n_checks = 0
while self._max_checks == -1 or n_checks <= self._max_checks:
# Check for timeout
if self._timeout and self.node.get_clock().now(
) - start_time > self._timeout:
break
# Check for preemption
if self.preempt_requested():
self.service_preempt()
return 'preempted'
# Call the condition
try:
if self._cond_cb(ud):
return 'true'
except:
raise smach.InvalidUserCodeError(
"Error thrown while executing condition callback %s: " %
str(self._cond_cb) + traceback.format_exc())
n_checks += 1
rate.sleep()
return 'false'
def __getattr__(self, name):
if name[0] == '_':
return object.__getattr__(self, name)
if name not in self._input:
raise smach.InvalidUserCodeError("Reading from SMACH userdata key '%s' but the only keys that were declared as input to this state were: %s. This key needs to be declaread as input to this state. " % (name, self._input))
if name not in self._output:
return get_const(getattr(self._ud, self._remap(name)))
return getattr(self._ud, self._remap(name))
def __getitem__(self, key):
if key not in self._input:
raise smach.InvalidUserCodeError(
"Reading from SMACH userdata key '%s' but the only keys that were declared as input to this state were: %s. This key needs to be declaread as input to this state. "
% (key, self._input))
if key not in self._output:
return get_const(self._ud.__getitem__(self._remap(key)))
return self._ud.__getitem__(self._remap(key))
def _state_runner(self, label):
"""Runs the states in parallel threads."""
# Wait until all threads are ready to start before beginnging
self._ready_event.wait()
self.call_transition_cbs()
# Execute child state
try:
self._child_outcomes[label] = self._states[label].execute(
smach.Remapper(
self.userdata,
self._states[label].get_registered_input_keys(),
self._states[label].get_registered_output_keys(),
self._remappings[label]))
except PreemptException:
self._child_outcomes[label] = self._default_outcome
except:
self._user_code_exception = True
with self._done_cond:
self._done_cond.notify_all()
raise smach.InvalidStateError(
("Could not execute child state '%s': " % label) +
traceback.format_exc())
# Make sure the child returned an outcome
if self._child_outcomes[label] is None:
raise smach.InvalidStateError(
"Concurrent state '%s' returned no outcome on termination." %
label)
else:
smach.loginfo(
"Concurrent state '%s' returned outcome '%s' on termination." %
(label, self._child_outcomes[label]))
self._done_cond.acquire()
self.request_preempt()
self._done_cond.notify_all()
self._done_cond.release()
# Check if all of the states have completed
with self._done_cond:
# initialize preemption flag
preempt_others = False
# Call transition cb's
self.call_transition_cbs()
# Call child termination cb if it's defined
if self._child_termination_cb:
try:
preempt_others = self._child_termination_cb(
self._child_outcomes)
except:
raise smach.InvalidUserCodeError(
"Could not execute child termination callback: " +
traceback.format_exc())
# Notify the container to terminate (and preempt other states if neceesary)
if preempt_others or all(
[o is not None for o in self._child_outcomes.values()]):
self._done_cond.notify_all()
def execute(self, parent_ud):
self._is_running = True
# Copy input keys
self._copy_input_keys(parent_ud, self.userdata)
self.call_start_cbs()
# Iterate over items
outcome = self._exhausted_outcome
if hasattr(self._items, '__call__'):
it = self._items().__iter__()
else:
it = self._items.__iter__()
while not smach.is_shutdown():
try:
item = next(it)
except:
outcome = self._exhausted_outcome
break
smach.loginfo("Iterating %s of %s" % (str(item), str(self._items)))
self.userdata[self._items_label] = item
# Enter the contained state
try:
outcome = self._state.execute(self.userdata)
except smach.InvalidUserCodeError as ex:
smach.logerr("Could not execute Iterator state '%s'" %
self._state_label)
raise ex
except:
raise smach.InvalidUserCodeError(
"Could not execute iterator state '%s' of type '%s': " %
(self._state_label, self._state) + traceback.format_exc())
# Check if we should stop preemptively
if self.preempt_requested():
self.service_preempt()
outcome = 'preempted'
break
if outcome in self._break_outcomes\
or (len(self._loop_outcomes) > 0 and outcome not in self._loop_outcomes):
break
self.call_transition_cbs()
# Remap the outcome if necessary
if outcome in self._final_outcome_map:
outcome = self._final_outcome_map[outcome]
# Copy output keys
self._copy_output_keys(self.userdata, parent_ud)
self._is_running = False
self.call_termination_cbs(self._state_label, outcome)
return outcome
def _execute_state(self, state, force_exit=False):
result = None
try:
ud = smach.Remapper(
self.userdata,
state.get_registered_input_keys(),
state.get_registered_output_keys(),
self._remappings[state.name])
if force_exit:
state.on_exit(ud)
else:
result = state.execute(ud)
#print 'execute %s --> %s' % (state.name, self._returned_outcomes[state.name])
except smach.InvalidUserCodeError as ex:
smach.logerr("State '%s' failed to execute." % state.name)
raise ex
except:
raise smach.InvalidUserCodeError("Could not execute state '%s' of type '%s': " %
(state.name, state)
+ traceback.format_exc())
return result
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.loginfo(
"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.loginfo(
"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
self._preempt_requested = False
self._preempted_state = None
else:
# We were preempted after the last state was running
# So we sho if(self._preempt_requested):uld preempt this state before we execute it
self._preempt_current_state()
# Execute the state
self._tree_view_enable_state(self._current_label)
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]))
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()
self._tree_view_disable_state(self._current_label)
# 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' preempt_requestedfrom 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 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():
# 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
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):
#print 'update'
# Check if a preempt was requested before or while the last state was running
if self.preempt_requested() or PreemptableState.preempt:
#if self._preempted_state is not None:
# if self._preempted_state.preempt_requested():
# self._preempt_current_state()
# else:
# self._preempt_requested = False
# self._preempted_state = None
#else:
# self._preempt_current_state()
return self._preempted_name
#self._state_transitioning_lock.release()
for state in self._ordered_states:
if state.name in self._returned_outcomes.keys() and self._returned_outcomes[state.name] != self._loopback_name:
continue
if PriorityContainer.active_container is not None and not PriorityContainer.active_container.startswith(state._get_path()):
if isinstance(state, EventState):
state._notify_skipped()
elif state._get_deep_state() is not None:
state._get_deep_state()._notify_skipped()
continue
try:
ud = smach.Remapper(
self.userdata,
state.get_registered_input_keys(),
state.get_registered_output_keys(),
self._remappings[state.name])
self._returned_outcomes[state.name] = state.execute(ud)
#print 'execute %s --> %s' % (state.name, self._returned_outcomes[state.name])
except smach.InvalidUserCodeError as ex:
smach.logerr("State '%s' failed to execute." % state.name)
raise ex
except:
raise smach.InvalidUserCodeError("Could not execute state '%s' of type '%s': " %
(state.name, state)
+ traceback.format_exc())
#self._state_transitioning_lock.acquire()
# Determine outcome
outcome = self._loopback_name
for item in self._conditions:
(oc, cond) = item
if all(self._returned_outcomes.has_key(sn) and self._returned_outcomes[sn] == o for sn,o in cond):
outcome = oc
break
# preempt (?)
if outcome == self._loopback_name:
return None
if outcome in self.get_registered_outcomes():
# Call termination callbacks
self.call_termination_cbs([s.name for s in self._ordered_states],outcome)
self._returned_outcomes = dict()
return outcome
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.name, outcome))
