def nested_sm(self):
def execute(name, outcome):
self._trace.append(name)
return outcome
resumable_inner_sm = ResumableStateMachine(outcomes=['ok'])
inner_sm = StateMachine(outcomes=['ok'])
outer_sm = ResumableStateMachine(outcomes=['ok'])
with outer_sm:
StateMachine.add('A', resumable_inner_sm, {'ok': 'B'})
StateMachine.add('B', inner_sm, {'ok': 'C'})
StateMachine.add(
'C', CBState(lambda ud: execute('C', 'ok'), outcomes=['ok']))
with resumable_inner_sm:
StateMachine.add(
'A', CBState(lambda ud: execute('A.A', 'ok'), outcomes=['ok']),
{'ok': 'B'})
StateMachine.add(
'B', CBState(lambda ud: execute('A.B', 'ok'), outcomes=['ok']))
with inner_sm:
StateMachine.add(
'A', CBState(lambda ud: execute('B.A', 'ok'), outcomes=['ok']),
{'ok': 'B'})
StateMachine.add(
'B', CBState(lambda ud: execute('B.B', 'ok'), outcomes=['ok']))
return outer_sm
def main():
rospy.init_node("smach_example_state_machine")
# Create a SMACH state machine
sm = StateMachine(outcomes=["outcome4", "outcome5"])
# Open the container
with sm:
# Add states to the container
StateMachine.add("FOO",
Foo(),
transitions={
"outcome1": "BAR",
"outcome2": "outcome4"
})
StateMachine.add("BAR", Bar(), transitions={"outcome2": "FOO"})
# Create and start the introspection server
sis = smach_ros.IntrospectionServer("my_smach_introspection_server", sm,
"/SM_ROOT")
sis.start()
# Execute SMACH plan
outcome = sm.execute()
# Wait for ctrl-c to stop the application
rospy.spin()
sis.stop()
