def _add_to_structure_msg(self, structure_msg):
"""
Adds this state machine and all children to the structure message.
@type structure_msg: ContainerStructure
@param structure_msg: The message that will finally contain the structure message.
"""
# add self to message
container_msg = Container()
container_msg.path = self.path
container_msg.children = [state.name for state in self._states]
structure_msg.containers.append(container_msg)
# add children to message
for state in self._states:
# create and add children
if isinstance(state, OperatableStateMachine):
state_msg = state._add_to_structure_msg(structure_msg)
else:
state_msg = Container(path=state.path)
structure_msg.containers.append(state_msg)
# complete structure info for children
state_msg.outcomes = state.outcomes
state_msg.transitions = [
self._transitions[state.name][outcome]
for outcome in state.outcomes
]
state_msg.autonomy = [
self._autonomy[state.name][outcome]
for outcome in state.outcomes
]
return container_msg
def _build_msg(self, prefix, msg):
"""
Adds this state 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 path
name = prefix + self.name
# no children
children = None
# set outcomes
outcomes = self._outcome_list
# set transitions and autonomy levels
transitions = []
autonomy = []
for i in range(len(outcomes)):
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
msg.containers.append(Container(name, children, outcomes, transitions, autonomy))
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