[openrtm-commit:02658] r854 - in branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist: . examples/StaticFsm python3_examples/StaticFsm
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2017年 7月 4日 (火) 18:03:20 JST
Author: miyamoto
Date: 2017-07-04 18:03:20 +0900 (Tue, 04 Jul 2017)
New Revision: 854
Modified:
branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/EventPort.py
branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/Macho.py
branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/StaticFSM.py
branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/examples/StaticFsm/Microwave.py
branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/examples/StaticFsm/MicrowaveFsm.py
branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/StaticFsm/Microwave.py
branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/StaticFsm/MicrowaveFsm.py
Log:
[incompat,2.0,FSM4RTC] fixed Machine Objects class library.
Modified: branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/EventPort.py
===================================================================
--- branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/EventPort.py 2017-06-27 13:55:54 UTC (rev 853)
+++ branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/EventPort.py 2017-07-04 09:03:20 UTC (rev 854)
@@ -14,6 +14,7 @@
# All rights reserved.
import OpenRTM_aist
+import OpenRTM_aist.Macho
class EventBinder0(OpenRTM_aist.ConnectorDataListener):
Modified: branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/Macho.py
===================================================================
--- branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/Macho.py 2017-06-27 13:55:54 UTC (rev 853)
+++ branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/Macho.py 2017-07-04 09:03:20 UTC (rev 854)
@@ -15,8 +15,8 @@
+import types
-
class _EmptyBox:
def __init__(self):
pass
@@ -41,11 +41,25 @@
return False
isChild = staticmethod(isChild)
- def setState(self, S):
+
+ def set_state(self, S, *args):
+ return self.setState(S, *args)
+
+
+ def setState(self, S, *args):
global _theDefaultInitializer
m = self._myStateInstance.machine()
instance = S._getInstance(m, S.SUPER, S)
+ m.setPendingState(instance, _Initializer(*args))
+
+ def setState0(self, S):
+ global _theDefaultInitializer
+ m = self._myStateInstance.machine()
+ instance = S._getInstance(m, S.SUPER, S)
m.setPendingState(instance, _theDefaultInitializer)
+
+
+
def setState1(self,S,p1):
m = self._myStateInstance.machine()
@@ -100,12 +114,7 @@
self._myStateInstance.machine().shutdown()
def _setHistorySuper(self, instance, deep):
pass
- def exit(self):
- pass
- def entry(self):
- pass
- def init(self):
- pass
+
def _getInstance(machine, S=None, C=None):
instance = machine.getInstances()
if not instance[0]:
@@ -118,6 +127,12 @@
pass
+ def on_entry(self):
+ pass
+ def on_init(self):
+ pass
+ def on_exit(self):
+ pass
@@ -124,6 +139,8 @@
+
+
class Link(_StateSpecification):
def __init__(self, instance):
super(Link,self).__init__(instance)
@@ -175,11 +192,12 @@
else:
return Link.key(self)
history = staticmethod(history)
- def entry(self):
+
+ def on_entry(self):
pass
- def init(self):
+ def on_init(self):
pass
- def exit(self):
+ def on_exit(self):
pass
def _box(self):
@@ -208,8 +226,15 @@
return obj
return None
+ def data(self, class_=None):
+ if class_:
+ return self[class_]._box()
+ else:
+ return self._box()
+ def dispatch(self, event):
+ self["TopBase_"].dispatch(event)
class StateID:
def __init__(self):
@@ -231,7 +256,7 @@
if first or not previous.isChild(self):
self.myParent.entry(previous,False)
self.createBox()
- self.mySpecification.entry()
+ self.mySpecification.on_entry()
def exit(self,next):
if not self.myParent:
@@ -238,7 +263,7 @@
return
if self is next or not next.isChild(self):
- self.mySpecification.exit()
+ self.mySpecification.on_exit()
if self.myBox is not _EmptyBox.theEmptyBox:
self.mySpecification._deleteBox(self)
self.myParent.exit(next)
@@ -249,7 +274,7 @@
if history and self.myHistory:
self.myMachine.setPendingState(self.myHistory, _theDefaultInitializer)
else:
- self.mySpecification.init()
+ self.mySpecification.on_init()
self.myHistory = None
@@ -319,6 +344,8 @@
return 0
def key(self):
return 0
+ def name(self):
+ return ""
def createBox(self):
pass
def deleteBox(self):
@@ -343,6 +370,8 @@
return self.SUPER.StateID
def key(self):
return self.SUPER.key(self)
+ def name(self):
+ return self.SUPER._state_name()
def create(self, machine, parent):
_SubstateInstance(machine, parent, self.SUPER)
def createBox(self):
@@ -450,7 +479,17 @@
getattr(behaviour,self.myHandler)()
+class _Event(IEvent):
+ def __init__(self, handler, *args):
+ self.myHandler = handler
+ self.myParams = args
+ def dispatch(self, instance):
+ behaviour = instance.specification()
+
+ getattr(behaviour,self.myHandler)(*self.myParams)
+
+
def Event6(R,p1,p2,p3,p4,p5,p6):
return _Event6(R,p1,p2,p3,p4,p5,p6)
@@ -474,29 +513,37 @@
return _Event0(R)
+
+def Event(R, *args):
+ return _Event(R, *args)
+
+def execute(instance, *args):
+ behaviour = instance.specification()
+ behaviour.on_init(*args)
+
def execute1(instance, p1):
behaviour = instance.specification()
- behaviour.init(p1)
+ behaviour.on_init(p1)
def execute2(instance, p1, p2):
behaviour = instance.specification()
- behaviour.init(p1, p2)
+ behaviour.on_init(p1, p2)
def execute3(instance, p1, p2, p3):
behaviour = instance.specification()
- behaviour.init(p1, p2, p3)
+ behaviour.on_init(p1, p2, p3)
def execute4(instance, p1, p2, p3, p4):
behaviour = instance.specification()
- behaviour.init(p1, p2, p3, p4)
+ behaviour.on_init(p1, p2, p3, p4)
def execute5(instance, p1, p2, p3, p4, p5):
behaviour = instance.specification()
- behaviour.init(p1, p2, p3, p4, p5)
+ behaviour.on_init(p1, p2, p3, p4, p5)
def execute6(instance, p1, p2, p3, p4, p5, p6):
behaviour = instance.specification()
- behaviour.init(p1, p2, p3, p4, p5, p6)
+ behaviour.on_init(p1, p2, p3, p4, p5, p6)
class _Initializer:
@@ -555,6 +602,14 @@
return key
+class _Initializer(_Initializer):
+ def __init__(self, *args):
+ self.myParams = args
+ def clone(self):
+ return _Initializer(*self.myParams)
+ def execute(self, instance):
+ execute(instance, *self.myParams)
+
class _Initializer1(_Initializer):
def __init__(self, p1):
self.myParam1 = p1
@@ -652,6 +707,7 @@
def setState(self, instance, init):
self.setPendingState(instance, init)
self.rattleOn()
+
def setStateAlias(self, state):
state.setState(self)
self.rattleOn()
@@ -685,10 +741,10 @@
self.myPendingInit = None
def getInstances(self):
return self.myInstances
- def start(self, instance):
+ def start(self, instance, *args):
global _theDefaultInitializer
self.myCurrentState = _StateSpecification._getInstance(self)
- self.setState(instance, _theDefaultInitializer)
+ self.setState(instance, _Initializer(*args))
def startAlias(self, state):
self.myCurrentState = _StateSpecification._getInstance(self)
self.setStateAlias(state)
@@ -757,7 +813,7 @@
def isParent(self, k):
return self.key().childPredicate(k)
def name(self):
- return self.key().name()
+ return self.key().name
def id(self):
return self.key().id
def key(self):
@@ -764,8 +820,8 @@
return self.myInitializer.adapt(self.myStateKey)
def setState(self, machine):
machine.setPendingState(self.key().instanceGenerator(machine), self.myInitializer.clone())
-
-
+
+"""
def State(S):
return Alias(S.key())
@@ -794,6 +850,7 @@
def StateHistory(S, machine):
return Alias(S.key(), _AdaptingInitializer(machine))
+"""
class Snapshot(_MachineBase):
@@ -819,13 +876,17 @@
return ret
#return self.myMachine.myCurrentState.specification()
+
+
class Machine(_MachineBase):
theStateCount = 1
- def __init__(self, TOP, TopBase):
+ #def __init__(self, TOP, TopBase):
+ def __init__(self, TOP, initial_state=None, args=()):
super(Machine,self).__init__()
self.TOP = TOP
- self.TopBase = TopBase
+ self.TopBase = TOP.SUPER(TOP._state_name)
+ self.init(box=None, initial_state=initial_state, args=args)
def __del__(self):
pass
def exit(self):
@@ -832,12 +893,16 @@
self.myCurrentState.shutdown()
self.free(Machine.theStateCount)
Machine.theStateCount = 1
- def init(self, box=None):
+ def init(self, box=None,initial_state=None, args=()):
self.allocate(Machine.theStateCount)
top = self.TOP._getInstance(self, self.TopBase, self.TOP)
if box:
top.setBox(box)
- self.start(top)
+ if initial_state:
+ instance = initial_state._getInstance(self, initial_state.SUPER, initial_state)
+ self.start(instance, *args)
+ else:
+ self.start(top, *args)
def init_Alias(self, state, box=None):
self.allocate(Machine.theStateCount)
@@ -867,10 +932,42 @@
def box(self):
self.myCurrentState.specification().box()
+ def data(self):
+ self.myCurrentState.specification().box()
+ def _current_state(self):
+ return self.myCurrentState
+
+ def getCurrent(self):
+ spec = self.myCurrentState.specification()
+ class EventDelegator(object):
+ def __init__(self):
+ pass
+ ed = EventDelegator()
+ for name in dir(spec):
+ if name.startswith('__'):
+ continue
+ if hasattr(StateDef, name):
+ continue
+ if not isinstance(getattr(spec, name), types.MethodType):
+ continue
+ class Spec_Func(object):
+ def __init__(self, spec, name, machine):
+ self._spec = spec
+ self._name = name
+ self._machine = machine
+ def __call__(self, *args):
+ ret = getattr(self._spec,self._name)(*args)
+ self._machine.rattleOn()
+ return ret
+
+ setattr(ed, name, Spec_Func(spec, name, self))
+ return ed
+ def setCurrent(self, state):
+ self.myCurrentState = state
+ current = property(getCurrent, setCurrent)
-
def _createBox(place, B=None):
@@ -899,9 +996,73 @@
def machine(self):
return self._myStateInstance.machine()
+
+
+
return TopBase_
+def topstate(cls):
+ class TOP(cls):
+ def __init__(self, instance):
+ super(cls,self).__init__(instance)
+ def on_init(self, *args):
+ return cls.on_init(self, *args)
+ def on_entry(self, *args):
+ return cls.on_entry(self, *args)
+ def on_exit(self, *args):
+ return cls.on_exit(self, *args)
+
+
+ TOP.SUPER = TopBase(TOP)
+ TOP.StateID = Machine.theStateCount
+ Machine.theStateCount += 1
+ TOP._state_name = staticmethod(lambda : TOP.__name__)
+ TOP.box = lambda self: self._box()
+
+ if hasattr(TOP, 'Data'):
+ TOP.Box = TOP.Data
+
+
+ return TOP
+
+def substate(superstate):
+ def _substate(cls):
+ class STATE(cls, superstate):
+ def __init__(self, instance):
+ cls.__init__(self, instance)
+ def on_init(self, *args):
+ return cls.on_init(self, *args)
+ def on_entry(self, *args):
+ return cls.on_entry(self, *args)
+ def on_exit(self, *args):
+ return cls.on_exit(self, *args)
+
+ STATE.SUPER = superstate
+ STATE.StateID = Machine.theStateCount
+ Machine.theStateCount += 1
+ STATE._state_name = staticmethod(lambda : cls.__name__)
+ STATE.box = lambda self: self._box()
+ #STATE.data = lambda self: self._box()
+
+ if hasattr(STATE, 'Data'):
+ STATE.Box = STATE.Data
+
+ return STATE
+ return _substate
+
+
+def deephistory(cls):
+ def _saveHistory(self,instance,shallow,deep):
+ instance.setHistory(deep)
+ self[self.SUPER]._setHistorySuper(instance,deep)
+
+ cls._saveHistory = _saveHistory
+
+ cls._setHistorySuper = lambda self,instance,deep: instance.setHistorySuper(deep)
+ return cls
+
+
def TOPSTATE(TOP):
TOP.SUPER = TopBase(TOP)
TOP.StateID = Machine.theStateCount
@@ -936,4 +1097,9 @@
STATE._setHistorySuper = lambda self,instance,deep: instance.setHistorySuper(deep)
-
\ No newline at end of file
+
+StateDef = Link
+
+
+def State(S):
+ return S
\ No newline at end of file
Modified: branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/StaticFSM.py
===================================================================
--- branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/StaticFSM.py 2017-06-27 13:55:54 UTC (rev 853)
+++ branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/StaticFSM.py 2017-07-04 09:03:20 UTC (rev 854)
@@ -14,9 +14,47 @@
# All rights reserved.
import OpenRTM_aist
+import OpenRTM_aist.Macho
import RTC
+def fsm_topstate(TOP):
+ ret = OpenRTM_aist.Macho.topstate(TOP)
+ class STATE(ret):
+ def __init__(self, instance):
+ ret.__init__(self, instance)
+ def on_entry(self, *argv):
+ OpenRTM_aist.Link.call_entry(self)
+ ret.on_entry(self, *argv)
+ def on_exit(self, *argv):
+ OpenRTM_aist.Link.call_exit(self)
+ ret.on_exit(self, *argv)
+ def on_init(self, *argv):
+ OpenRTM_aist.Link.call_init(self)
+ ret.on_init(self, *argv)
+ return ret
+
+
+def fsm_substate(superstate):
+ def _fsm_substate(cls):
+ ret = OpenRTM_aist.Macho.substate(superstate)(cls)
+ class STATE(ret):
+ def __init__(self, instance):
+ ret.__init__(self, instance)
+ def on_entry(self, *argv):
+ OpenRTM_aist.Link.call_entry(self)
+ ret.on_entry(self, *argv)
+ def on_exit(self, *argv):
+ OpenRTM_aist.Link.call_exit(self)
+ ret.on_exit(self, *argv)
+ def on_init(self, *argv):
+ OpenRTM_aist.Link.call_init(self)
+ ret.on_init(self, *argv)
+
+ return ret
+ return _fsm_substate
+
+
def FSM_TOPSTATE(TOP):
OpenRTM_aist.Macho.TOPSTATE(TOP)
@@ -25,12 +63,15 @@
OpenRTM_aist.Macho.SUBSTATE(STATE, SUPERSTATE)
+
class Machine(OpenRTM_aist.Macho.Machine):
def __init__(self, TOP, comp):
- super(Machine,self).__init__(TOP, OpenRTM_aist.Macho.TopBase(TOP))
+ #super(Machine,self).__init__(TOP, OpenRTM_aist.Macho.TopBase(TOP))
self._rtComponent = comp
+ super(Machine,self).__init__(TOP)
+
def __del__(self):
pass
def init_other(self, other):
@@ -55,7 +96,7 @@
if machine:
self._rtComponent = machine.getComp()
- def entry(self):
+ def call_entry(self):
self.setrtc()
if not self._rtComponent:
self.onEntry()
@@ -64,7 +105,7 @@
self._rtComponent.preOnFsmEntry(self._state_name())
self._rtComponent.postOnFsmEntry(self._state_name(), self.onEntry())
- def init(self):
+ def call_init(self):
self.setrtc()
if not self._rtComponent:
self.onInit()
@@ -73,7 +114,7 @@
self._rtComponent.postOnFsmInit(self._state_name(), self.onInit())
- def exit(self):
+ def call_exit(self):
self.setrtc()
if not self._rtComponent:
self.onExit()
Modified: branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/examples/StaticFsm/Microwave.py
===================================================================
--- branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/examples/StaticFsm/Microwave.py 2017-06-27 13:55:54 UTC (rev 853)
+++ branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/examples/StaticFsm/Microwave.py 2017-07-04 09:03:20 UTC (rev 854)
@@ -49,7 +49,7 @@
def onInitialize(self):
self._fsm = OpenRTM_aist.Machine(MicrowaveFsm.TOP, self)
- self._fsm.init()
+ #self._fsm.init()
self._eventIn = OpenRTM_aist.EventInPort("event", self._fsm)
self.addInPort("event", self._eventIn)
Modified: branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/examples/StaticFsm/MicrowaveFsm.py
===================================================================
--- branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/examples/StaticFsm/MicrowaveFsm.py 2017-06-27 13:55:54 UTC (rev 853)
+++ branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/examples/StaticFsm/MicrowaveFsm.py 2017-07-04 09:03:20 UTC (rev 854)
@@ -19,18 +19,12 @@
import OpenRTM_aist
import OpenRTM_aist.Macho
+ at OpenRTM_aist.fsm_topstate
class TOP(OpenRTM_aist.Link):
- def __init__(self, instance):
- super(TOP,self).__init__(instance)
- def entry(self):
- OpenRTM_aist.Link.entry(self)
- def exit(self):
- OpenRTM_aist.Link.exit(self)
- def init(self):
- OpenRTM_aist.Link.init(self)
- self.setState(Operational)
-
+ def on_init(self):
+ self.set_state(OpenRTM_aist.Macho.State(Operational))
+
def open(self):
pass
def close(self):
@@ -44,7 +38,7 @@
def tick(self):
pass
- class Box:
+ class Data:
def __init__(self):
self.myCookingTime = 0
def printTimer(self):
@@ -59,94 +53,68 @@
return self.myCookingTime
-OpenRTM_aist.FSM_TOPSTATE(TOP)
+
-
-class Disabled(TOP):
- def __init__(self, instance):
- super(Disabled,self).__init__(instance)
- def entry(self):
- OpenRTM_aist.Link.entry(self)
+ at OpenRTM_aist.fsm_substate(TOP)
+class Disabled(OpenRTM_aist.Link):
+ def on_entry(self):
print(" Microwave opened")
- def exit(self):
- OpenRTM_aist.Link.exit(self)
+ def on_exit(self):
print(" Microwave closed")
def close(self):
- self.setStateHistory(Operational)
- def init(self):
- OpenRTM_aist.Link.init(self)
+ self.setStateHistory(OpenRTM_aist.Macho.State(Operational))
-OpenRTM_aist.FSM_SUBSTATE(Disabled,TOP)
-class Operational(TOP):
- def __init__(self, instance):
- super(Operational,self).__init__(instance)
+ at OpenRTM_aist.Macho.deephistory
+ at OpenRTM_aist.fsm_substate(TOP)
+class Operational(OpenRTM_aist.Link):
def open(self):
- self.setState(Disabled)
+ self.set_state(OpenRTM_aist.Macho.State(Disabled))
def stop(self):
- self.setState(Idle)
- def init(self):
- OpenRTM_aist.Link.init(self)
- self.setState(Idle)
- def entry(self):
- OpenRTM_aist.Link.entry(self)
- def exit(self):
- OpenRTM_aist.Link.exit(self)
+ self.set_state(OpenRTM_aist.Macho.State(Idle))
+ def on_init(self):
+ self.set_state(OpenRTM_aist.Macho.State(Idle))
+
+
-OpenRTM_aist.FSM_SUBSTATE(Operational,TOP)
-OpenRTM_aist.Macho.DEEPHISTORY(Operational)
-class Idle(Operational):
- def __init__(self, instance):
- super(Idle,self).__init__(instance)
+
+ at OpenRTM_aist.fsm_substate(Operational)
+class Idle(OpenRTM_aist.Link):
def minute(self, time_):
- self.setState(Programmed)
- self["TopBase_"].dispatch(OpenRTM_aist.Macho.Event1("minute",time_))
+ self.set_state(OpenRTM_aist.Macho.State(Programmed))
+ self.dispatch(OpenRTM_aist.Macho.Event("minute",time_))
- def entry(self):
- OpenRTM_aist.Link.entry(self)
- self[TOP].box().resetTimer()
+ def on_entry(self):
+ self.data(TOP).resetTimer()
print(" Microwave ready")
- def init(self):
- OpenRTM_aist.Link.init(self)
- def exit(self):
- OpenRTM_aist.Link.exit(self)
-OpenRTM_aist.FSM_SUBSTATE(Idle,Operational)
-class Programmed(Operational):
- def __init__(self, instance):
- super(Programmed,self).__init__(instance)
+
+ at OpenRTM_aist.fsm_substate(Operational)
+class Programmed(OpenRTM_aist.Link):
def minute(self, time_):
for t in range(time_.data):
- self[TOP].box().incrementTimer()
- self[TOP].box().printTimer()
+ self.data(TOP).incrementTimer()
+ self.data(TOP).printTimer()
def start(self):
self.setState(Cooking)
- def entry(self):
- OpenRTM_aist.Link.entry(self)
- def exit(self):
- OpenRTM_aist.Link.exit(self)
- def init(self):
- OpenRTM_aist.Link.init(self)
-OpenRTM_aist.FSM_SUBSTATE(Programmed,Operational)
-class Cooking(Programmed):
- def __init__(self, instance):
- super(Cooking,self).__init__(instance)
+ at OpenRTM_aist.fsm_substate(Programmed)
+class Cooking(OpenRTM_aist.Link):
def tick(self):
print(" Clock tick")
- tb = self[TOP].box()
+ tb = self.data(TOP)
tb.decrementTimer()
if tb.getRemainingTime() == 0:
print(" Finished")
@@ -154,14 +122,9 @@
else:
tb.printTimer()
- def entry(self):
- OpenRTM_aist.Link.entry(self)
+ def on_entry(self):
print(" Heating on")
- def exit(self):
- OpenRTM_aist.Link.exit(self)
+ def on_exit(self):
print(" Heating off")
- def init(self):
- OpenRTM_aist.Link.init(self)
-OpenRTM_aist.FSM_SUBSTATE(Cooking,Programmed)
\ No newline at end of file
Modified: branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/StaticFsm/Microwave.py
===================================================================
--- branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/StaticFsm/Microwave.py 2017-06-27 13:55:54 UTC (rev 853)
+++ branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/StaticFsm/Microwave.py 2017-07-04 09:03:20 UTC (rev 854)
@@ -49,7 +49,7 @@
def onInitialize(self):
self._fsm = OpenRTM_aist.Machine(MicrowaveFsm.TOP, self)
- self._fsm.init()
+ #self._fsm.init()
self._eventIn = OpenRTM_aist.EventInPort("event", self._fsm)
self.addInPort("event", self._eventIn)
Modified: branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/StaticFsm/MicrowaveFsm.py
===================================================================
--- branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/StaticFsm/MicrowaveFsm.py 2017-06-27 13:55:54 UTC (rev 853)
+++ branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/StaticFsm/MicrowaveFsm.py 2017-07-04 09:03:20 UTC (rev 854)
@@ -19,18 +19,12 @@
import OpenRTM_aist
import OpenRTM_aist.Macho
+ at OpenRTM_aist.fsm_topstate
class TOP(OpenRTM_aist.Link):
- def __init__(self, instance):
- super(TOP,self).__init__(instance)
- def entry(self):
- OpenRTM_aist.Link.entry(self)
- def exit(self):
- OpenRTM_aist.Link.exit(self)
- def init(self):
- OpenRTM_aist.Link.init(self)
- self.setState(Operational)
-
+ def on_init(self):
+ self.set_state(OpenRTM_aist.Macho.State(Operational))
+
def open(self):
pass
def close(self):
@@ -44,11 +38,11 @@
def tick(self):
pass
- class Box:
+ class Data:
def __init__(self):
self.myCookingTime = 0
def printTimer(self):
- print(" Timer set to ", self.myCookingTime, " minutes")
+ print " Timer set to ", self.myCookingTime, " minutes"
def incrementTimer(self):
self.myCookingTime+=1
def decrementTimer(self):
@@ -59,94 +53,68 @@
return self.myCookingTime
-OpenRTM_aist.FSM_TOPSTATE(TOP)
+
-
-class Disabled(TOP):
- def __init__(self, instance):
- super(Disabled,self).__init__(instance)
- def entry(self):
- OpenRTM_aist.Link.entry(self)
+ at OpenRTM_aist.fsm_substate(TOP)
+class Disabled(OpenRTM_aist.Link):
+ def on_entry(self):
print(" Microwave opened")
- def exit(self):
- OpenRTM_aist.Link.exit(self)
+ def on_exit(self):
print(" Microwave closed")
def close(self):
- self.setStateHistory(Operational)
- def init(self):
- OpenRTM_aist.Link.init(self)
+ self.setStateHistory(OpenRTM_aist.Macho.State(Operational))
-OpenRTM_aist.FSM_SUBSTATE(Disabled,TOP)
-class Operational(TOP):
- def __init__(self, instance):
- super(Operational,self).__init__(instance)
+ at OpenRTM_aist.Macho.deephistory
+ at OpenRTM_aist.fsm_substate(TOP)
+class Operational(OpenRTM_aist.Link):
def open(self):
- self.setState(Disabled)
+ self.set_state(OpenRTM_aist.Macho.State(Disabled))
def stop(self):
- self.setState(Idle)
- def init(self):
- OpenRTM_aist.Link.init(self)
- self.setState(Idle)
- def entry(self):
- OpenRTM_aist.Link.entry(self)
- def exit(self):
- OpenRTM_aist.Link.exit(self)
+ self.set_state(OpenRTM_aist.Macho.State(Idle))
+ def on_init(self):
+ self.set_state(OpenRTM_aist.Macho.State(Idle))
+
+
-OpenRTM_aist.FSM_SUBSTATE(Operational,TOP)
-OpenRTM_aist.Macho.DEEPHISTORY(Operational)
-class Idle(Operational):
- def __init__(self, instance):
- super(Idle,self).__init__(instance)
+
+ at OpenRTM_aist.fsm_substate(Operational)
+class Idle(OpenRTM_aist.Link):
def minute(self, time_):
- self.setState(Programmed)
- self["TopBase_"].dispatch(OpenRTM_aist.Macho.Event1("minute",time_))
+ self.set_state(OpenRTM_aist.Macho.State(Programmed))
+ self.dispatch(OpenRTM_aist.Macho.Event("minute",time_))
- def entry(self):
- OpenRTM_aist.Link.entry(self)
- self[TOP].box().resetTimer()
+ def on_entry(self):
+ self.data(TOP).resetTimer()
print(" Microwave ready")
- def init(self):
- OpenRTM_aist.Link.init(self)
- def exit(self):
- OpenRTM_aist.Link.exit(self)
-OpenRTM_aist.FSM_SUBSTATE(Idle,Operational)
-class Programmed(Operational):
- def __init__(self, instance):
- super(Programmed,self).__init__(instance)
+
+ at OpenRTM_aist.fsm_substate(Operational)
+class Programmed(OpenRTM_aist.Link):
def minute(self, time_):
for t in range(time_.data):
- self[TOP].box().incrementTimer()
- self[TOP].box().printTimer()
+ self.data(TOP).incrementTimer()
+ self.data(TOP).printTimer()
def start(self):
self.setState(Cooking)
- def entry(self):
- OpenRTM_aist.Link.entry(self)
- def exit(self):
- OpenRTM_aist.Link.exit(self)
- def init(self):
- OpenRTM_aist.Link.init(self)
-OpenRTM_aist.FSM_SUBSTATE(Programmed,Operational)
-class Cooking(Programmed):
- def __init__(self, instance):
- super(Cooking,self).__init__(instance)
+ at OpenRTM_aist.fsm_substate(Programmed)
+class Cooking(OpenRTM_aist.Link):
def tick(self):
print(" Clock tick")
- tb = self[TOP].box()
+ tb = self.data(TOP)
tb.decrementTimer()
if tb.getRemainingTime() == 0:
print(" Finished")
@@ -154,14 +122,9 @@
else:
tb.printTimer()
- def entry(self):
- OpenRTM_aist.Link.entry(self)
+ def on_entry(self):
print(" Heating on")
- def exit(self):
- OpenRTM_aist.Link.exit(self)
+ def on_exit(self):
print(" Heating off")
- def init(self):
- OpenRTM_aist.Link.init(self)
-OpenRTM_aist.FSM_SUBSTATE(Cooking,Programmed)
\ No newline at end of file
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