[openrtm-commit:03012] r900 - in branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist: . examples/StaticFsm python3_examples/StaticFsm
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2017年 12月 13日 (水) 09:32:40 JST
Author: miyamoto
Date: 2017-12-13 09:32:40 +0900 (Wed, 13 Dec 2017)
New Revision: 900
Added:
branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/StaticFsm/MicrowaveFsm_pyfsm.py
branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/StaticFsm/Microwave_pyfsm.py
Modified:
branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/EventDrivenExecutionContext.py
branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/InPortPushConnector.py
branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/StaticFSM.py
branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/StaticFSM_pyfsm.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/examples/StaticFsm/MicrowaveFsm_pyfsm.py
branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/StaticFsm/Display.py
branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/StaticFsm/Inputbutton.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:
[compat, bugfix, ->RELENG_2_0] bug fix.
Modified: branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/EventDrivenExecutionContext.py
===================================================================
--- branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/EventDrivenExecutionContext.py 2017-12-13 00:30:12 UTC (rev 899)
+++ branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/EventDrivenExecutionContext.py 2017-12-13 00:32:40 UTC (rev 900)
@@ -25,9 +25,9 @@
# @class PeriodicExecutionContext
# @brief PeriodicExecutionContext ¥¯¥é¥¹
#
-# Periodic Sampled Data Processing(¼þ´ü¼Â¹ÔÍÑ)ExecutionContext¥¯¥é¥¹¡£
+# Periodic EventDrivenExecutionContext¥¯¥é¥¹¡£
#
-# @since 0.4.0
+# @since 2.0.0
#
# @else
# @class EventDrivenExecutionContext
@@ -67,7 +67,7 @@
# @else
#
# @endif
-def PeriodicExecutionContextInit(manager):
+def EventDrivenExecutionContextInit(manager):
OpenRTM_aist.ExecutionContextFactory.instance().addFactory("EventDrivenExecutionContext",
OpenRTM_aist.EventDrivenExecutionContext,
OpenRTM_aist.ECDelete)
Modified: branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/InPortPushConnector.py
===================================================================
--- branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/InPortPushConnector.py 2017-12-13 00:30:12 UTC (rev 899)
+++ branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/InPortPushConnector.py 2017-12-13 00:32:40 UTC (rev 900)
@@ -213,14 +213,16 @@
cdr = [""]
ret = self._buffer.read(cdr)
+
if not self._dataType:
return self.PRECONDITION_NOT_MET
if self._endian is not None:
- _data = cdrUnmarshal(any.to_any(self._dataType).typecode(),cdr[0],self._endian)
- if type(data) == list:
- data[0] = _data
+ if ret == OpenRTM_aist.BufferStatus.BUFFER_OK:
+ _data = cdrUnmarshal(any.to_any(self._dataType).typecode(),cdr[0],self._endian)
+ if type(data) == list:
+ data[0] = _data
else:
self._rtcout.RTC_ERROR("unknown endian from connector")
return self.PRECONDITION_NOT_MET
@@ -417,10 +419,10 @@
return
def onBufferEmpty(self, data):
if self._listeners and self._profile:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_EMPTY].notify(self._profile, data)
+ self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_BUFFER_EMPTY].notify(self._profile)
return
def onBufferReadTimeout(self, data):
if self._listeners and self._profile:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ_TIMEOUT].notify(self._profile, data)
+ self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_BUFFER_READ_TIMEOUT].notify(self._profile)
return
\ 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 2017-12-13 00:30:12 UTC (rev 899)
+++ branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/StaticFSM.py 2017-12-13 00:32:40 UTC (rev 900)
@@ -24,15 +24,12 @@
def __init__(self, instance):
ret.__init__(self, instance)
def on_entry(self, *argv):
- OpenRTM_aist.Link.call_entry(self)
- ret.on_entry(self, *argv)
+ ret.call_entry(self, ret, *argv)
def on_exit(self, *argv):
- OpenRTM_aist.Link.call_exit(self)
- ret.on_exit(self, *argv)
+ ret.call_exit(self, ret, *argv)
def on_init(self, *argv):
- OpenRTM_aist.Link.call_init(self)
- ret.on_init(self, *argv)
- return ret
+ ret.call_init(self, ret, *argv)
+ return STATE
def fsm_substate(superstate):
@@ -42,25 +39,22 @@
def __init__(self, instance):
ret.__init__(self, instance)
def on_entry(self, *argv):
- OpenRTM_aist.Link.call_entry(self)
- ret.on_entry(self, *argv)
+ ret.call_entry(self, cls, *argv)
def on_exit(self, *argv):
- OpenRTM_aist.Link.call_exit(self)
- ret.on_exit(self, *argv)
+ ret.call_exit(self, cls, *argv)
def on_init(self, *argv):
- OpenRTM_aist.Link.call_init(self)
- ret.on_init(self, *argv)
+ ret.call_init(self, cls, *argv)
- return ret
+ return STATE
return _fsm_substate
def FSM_TOPSTATE(TOP):
- OpenRTM_aist.Macho.TOPSTATE(TOP)
+ return fsm_topstate(TOP)
-def FSM_SUBSTATE(STATE, SUPERSTATE):
- OpenRTM_aist.Macho.SUBSTATE(STATE, SUPERSTATE)
+def FSM_SUBSTATE(SUPERSTATE):
+ return fsm_substate(SUPERSTATE)
@@ -96,31 +90,31 @@
if machine:
self._rtComponent = machine.getComp()
- def call_entry(self):
+ def call_entry(self, cls, *argv):
self.setrtc()
if not self._rtComponent:
- self.onEntry()
+ cls.onEntry(self, *argv)
else:
self._rtComponent.postOnFsmStateChange(self._state_name(), RTC.RTC_OK)
self._rtComponent.preOnFsmEntry(self._state_name())
- self._rtComponent.postOnFsmEntry(self._state_name(), self.onEntry())
+ self._rtComponent.postOnFsmEntry(self._state_name(),cls.onEntry(self, *argv))
- def call_init(self):
+ def call_init(self, cls, *argv):
self.setrtc()
if not self._rtComponent:
- self.onInit()
+ cls.onInit(self, *argv)
else:
self._rtComponent.preOnFsmInit(self._state_name())
- self._rtComponent.postOnFsmInit(self._state_name(), self.onInit())
+ self._rtComponent.postOnFsmInit(self._state_name(), cls.onInit(self, *argv))
- def call_exit(self):
+ def call_exit(self, cls, *argv):
self.setrtc()
if not self._rtComponent:
- self.onExit()
+ cls.onExit(self, *argv)
else:
self._rtComponent.preOnFsmExit(self._state_name())
- self._rtComponent.postOnFsmExit(self._state_name(), self.onExit())
+ self._rtComponent.postOnFsmExit(self._state_name(), cls.onExit(self, *argv))
self._rtComponent.preOnFsmStateChange(self._state_name())
def onEntry(self):
Modified: branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/StaticFSM_pyfsm.py
===================================================================
--- branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/StaticFSM_pyfsm.py 2017-12-13 00:30:12 UTC (rev 899)
+++ branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/StaticFSM_pyfsm.py 2017-12-13 00:32:40 UTC (rev 900)
@@ -24,15 +24,12 @@
def __init__(self, instance):
ret.__init__(self, instance)
def on_entry(self, *argv):
- OpenRTM_aist.Link.call_entry(self)
- ret.on_entry(self, *argv)
+ ret.call_entry(self, ret, *argv)
def on_exit(self, *argv):
- OpenRTM_aist.Link.call_exit(self)
- ret.on_exit(self, *argv)
+ ret.call_exit(self, ret, *argv)
def on_init(self, *argv):
- OpenRTM_aist.Link.call_init(self)
- ret.on_init(self, *argv)
- return ret
+ ret.call_init(self, ret, *argv)
+ return STATE
def fsm_substate(superstate):
@@ -42,23 +39,26 @@
def __init__(self, instance):
ret.__init__(self, instance)
def on_entry(self, *argv):
- OpenRTM_aist.Link.call_entry(self)
- ret.on_entry(self, *argv)
+ ret.call_entry(self, cls, *argv)
def on_exit(self, *argv):
- OpenRTM_aist.Link.call_exit(self)
- ret.on_exit(self, *argv)
+ ret.call_exit(self, cls, *argv)
def on_init(self, *argv):
- OpenRTM_aist.Link.call_init(self)
- ret.on_init(self, *argv)
+ ret.call_init(self, cls, *argv)
- return ret
+ return STATE
return _fsm_substate
+def FSM_TOPSTATE(TOP):
+ return fsm_topstate(TOP)
+def FSM_SUBSTATE(SUPERSTATE):
+ return fsm_substate(SUPERSTATE)
+
+
class Machine(pyfsm.Machine):
def __init__(self, TOP, comp):
self._rtComponent = comp
@@ -90,31 +90,31 @@
if machine:
self._rtComponent = machine.getComp()
- def call_entry(self):
+ def call_entry(self, cls, *argv):
self.setrtc()
if not self._rtComponent:
- self.onEntry()
+ self.onEntry(*argv)
else:
self._rtComponent.postOnFsmStateChange(self._state_name(), RTC.RTC_OK)
self._rtComponent.preOnFsmEntry(self._state_name())
- self._rtComponent.postOnFsmEntry(self._state_name(), self.onEntry())
+ self._rtComponent.postOnFsmEntry(self._state_name(),cls.onEntry(self, *argv))
- def call_init(self):
+ def call_init(self, cls, *argv):
self.setrtc()
if not self._rtComponent:
- self.onInit()
+ self.onInit(*argv)
else:
self._rtComponent.preOnFsmInit(self._state_name())
- self._rtComponent.postOnFsmInit(self._state_name(), self.onInit())
+ self._rtComponent.postOnFsmInit(self._state_name(), cls.onInit(self, *argv))
- def call_exit(self):
+ def call_exit(self, cls, *argv):
self.setrtc()
if not self._rtComponent:
- self.onExit()
+ self.onExit(*argv)
else:
self._rtComponent.preOnFsmExit(self._state_name())
- self._rtComponent.postOnFsmExit(self._state_name(), self.onExit())
+ self._rtComponent.postOnFsmExit(self._state_name(), cls.onExit(self, *argv))
self._rtComponent.preOnFsmStateChange(self._state_name())
def onEntry(self):
Modified: branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/examples/StaticFsm/Microwave.py
===================================================================
--- branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/examples/StaticFsm/Microwave.py 2017-12-13 00:30:12 UTC (rev 899)
+++ branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/examples/StaticFsm/Microwave.py 2017-12-13 00:32:40 UTC (rev 900)
@@ -45,10 +45,8 @@
return
- def onFinalize(self):
- self._fsm.shutdown()
- return RTC.RTC_OK
+
def onInitialize(self):
self._fsm = StaticFSM.Machine(MicrowaveFsm.TOP, self)
#self._fsm.init()
@@ -66,6 +64,11 @@
return RTC.RTC_OK
+
+ def onFinalize(self):
+ self._fsm.shutdown()
+ return RTC.RTC_OK
+
def onExecute(self, ec_id):
Modified: branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/examples/StaticFsm/MicrowaveFsm.py
===================================================================
--- branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/examples/StaticFsm/MicrowaveFsm.py 2017-12-13 00:30:12 UTC (rev 899)
+++ branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/examples/StaticFsm/MicrowaveFsm.py 2017-12-13 00:32:40 UTC (rev 900)
@@ -15,15 +15,16 @@
import sys
+
import RTC
-import OpenRTM_aist
import OpenRTM_aist.StaticFSM as StaticFSM
-import OpenRTM_aist.EventPort as EventPort
- at StaticFSM.fsm_topstate
+
+ at StaticFSM.FSM_TOPSTATE
class TOP(StaticFSM.Link):
- def on_init(self):
+ def onInit(self):
self.set_state(StaticFSM.State(Operational))
+ return RTC.RTC_OK
def open(self):
@@ -56,12 +57,14 @@
- at StaticFSM.fsm_substate(TOP)
+ at StaticFSM.FSM_SUBSTATE(TOP)
class Disabled(StaticFSM.Link):
- def on_entry(self):
+ def onEntry(self):
print(" Microwave opened")
- def on_exit(self):
+ return RTC.RTC_OK
+ def onExit(self):
print(" Microwave closed")
+ return RTC.RTC_OK
def close(self):
#self.setStateHistory(OpenRTM_aist.Macho.State(Operational))
self.set_state(StaticFSM.State(Operational))
@@ -68,14 +71,15 @@
@StaticFSM.deephistory
- at StaticFSM.fsm_substate(TOP)
+ at StaticFSM.FSM_SUBSTATE(TOP)
class Operational(StaticFSM.Link):
def open(self):
self.set_state(StaticFSM.State(Disabled))
def stop(self):
self.set_state(StaticFSM.State(Idle))
- def on_init(self):
+ def onInit(self):
self.set_state(StaticFSM.State(Idle))
+ return RTC.RTC_OK
@@ -85,21 +89,22 @@
- at StaticFSM.fsm_substate(Operational)
+ at StaticFSM.FSM_SUBSTATE(Operational)
class Idle(StaticFSM.Link):
def minute(self, time_):
self.set_state(StaticFSM.State(Programmed))
self.dispatch(StaticFSM.Event(TOP.minute,time_))
- def on_entry(self):
+ def onEntry(self):
self.data(TOP).resetTimer()
print(" Microwave ready")
+ return RTC.RTC_OK
- at StaticFSM.fsm_substate(Operational)
+ at StaticFSM.FSM_SUBSTATE(Operational)
class Programmed(StaticFSM.Link):
def minute(self, time_):
for t in range(time_.data):
@@ -112,7 +117,7 @@
- at StaticFSM.fsm_substate(Programmed)
+ at StaticFSM.FSM_SUBSTATE(Programmed)
class Cooking(StaticFSM.Link):
def tick(self):
print(" Clock tick")
@@ -124,9 +129,11 @@
else:
tb.printTimer()
- def on_entry(self):
+ def onEntry(self):
print(" Heating on")
- def on_exit(self):
+ return RTC.RTC_OK
+ def onExit(self):
print(" Heating off")
+ return RTC.RTC_OK
Modified: branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/examples/StaticFsm/MicrowaveFsm_pyfsm.py
===================================================================
--- branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/examples/StaticFsm/MicrowaveFsm_pyfsm.py 2017-12-13 00:30:12 UTC (rev 899)
+++ branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/examples/StaticFsm/MicrowaveFsm_pyfsm.py 2017-12-13 00:32:40 UTC (rev 900)
@@ -15,15 +15,16 @@
import sys
-import RTC
-import OpenRTM_aist
+
+
import OpenRTM_aist.StaticFSM_pyfsm as StaticFSM
-import OpenRTM_aist.EventPort_pyfsm as EventPort
- at StaticFSM.fsm_topstate
+
+ at StaticFSM.FSM_TOPSTATE
class TOP(StaticFSM.Link):
- def on_init(self):
+ def onInit(self):
self.set_state(StaticFSM.State(Operational))
+ return RTC.RTC_OK
def open(self):
@@ -56,12 +57,14 @@
- at StaticFSM.fsm_substate(TOP)
+ at StaticFSM.FSM_SUBSTATE(TOP)
class Disabled(StaticFSM.Link):
- def on_entry(self):
+ def onEntry(self):
print(" Microwave opened")
- def on_exit(self):
+ return RTC.RTC_OK
+ def onExit(self):
print(" Microwave closed")
+ return RTC.RTC_OK
def close(self):
#self.setStateHistory(OpenRTM_aist.Macho.State(Operational))
self.set_state(StaticFSM.State(Operational))
@@ -68,14 +71,15 @@
@StaticFSM.deephistory
- at StaticFSM.fsm_substate(TOP)
+ at StaticFSM.FSM_SUBSTATE(TOP)
class Operational(StaticFSM.Link):
def open(self):
self.set_state(StaticFSM.State(Disabled))
def stop(self):
self.set_state(StaticFSM.State(Idle))
- def on_init(self):
+ def onInit(self):
self.set_state(StaticFSM.State(Idle))
+ return RTC.RTC_OK
@@ -85,21 +89,22 @@
- at StaticFSM.fsm_substate(Operational)
+ at StaticFSM.FSM_SUBSTATE(Operational)
class Idle(StaticFSM.Link):
def minute(self, time_):
self.set_state(StaticFSM.State(Programmed))
self.dispatch(StaticFSM.Event(TOP.minute,time_))
- def on_entry(self):
+ def onEntry(self):
self.data(TOP).resetTimer()
print(" Microwave ready")
+ return RTC.RTC_OK
- at StaticFSM.fsm_substate(Operational)
+ at StaticFSM.FSM_SUBSTATE(Operational)
class Programmed(StaticFSM.Link):
def minute(self, time_):
for t in range(time_.data):
@@ -112,7 +117,7 @@
- at StaticFSM.fsm_substate(Programmed)
+ at StaticFSM.FSM_SUBSTATE(Programmed)
class Cooking(StaticFSM.Link):
def tick(self):
print(" Clock tick")
@@ -124,9 +129,11 @@
else:
tb.printTimer()
- def on_entry(self):
+ def onEntry(self):
print(" Heating on")
- def on_exit(self):
+ return RTC.RTC_OK
+ def onExit(self):
print(" Heating off")
+ return RTC.RTC_OK
Modified: branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/StaticFsm/Display.py
===================================================================
--- branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/StaticFsm/Display.py 2017-12-13 00:30:12 UTC (rev 899)
+++ branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/StaticFsm/Display.py 2017-12-13 00:32:40 UTC (rev 900)
@@ -38,16 +38,16 @@
self._name = name
def __del__(self):
- print("dtor of ", self._name)
+ print "dtor of ", self._name
def __call__(self, info, cdrdata):
data = OpenRTM_aist.ConnectorDataListenerT.__call__(self, info, cdrdata, RTC.TimedLong(RTC.Time(0,0),0))
- print("------------------------------")
- print("Listener: ", self._name)
- print("Profile::name: ", info.name)
- print("Profile::id: ", info.id)
- print("Data: ", data.data)
- print("------------------------------")
+ print "------------------------------"
+ print "Listener: ", self._name
+ print "Profile::name: ", info.name
+ print "Profile::id: ", info.id
+ print "Data: ", data.data
+ print "------------------------------"
return OpenRTM_aist.ConnectorListenerStatus.NO_CHANGE
@@ -56,14 +56,14 @@
self._name = name
def __del__(self):
- print("dtor of ", self._name)
+ print "dtor of ", self._name
def __call__(self, info):
- print("------------------------------")
- print("Listener: ", self._name)
- print("Profile::name: ", info.name)
- print("Profile::id: ", info.id)
- print("------------------------------")
+ print "------------------------------"
+ print "Listener: ", self._name
+ print "Profile::name: ", info.name
+ print "Profile::id: ", info.id
+ print "------------------------------"
return OpenRTM_aist.ConnectorListenerStatus.NO_CHANGE
@@ -127,9 +127,9 @@
def onExecute(self, ec_id):
if self._inIn.isNew():
data = self._inIn.read()
- print("Received: ", data.data)
- print("TimeStamp: ", data.tm.sec,"[s]")
- print("TimeStamp: ", data.tm.nsec,"[ns]")
+ print "Received: ", data.data
+ print "TimeStamp: ", data.tm.sec,"[s]"
+ print "TimeStamp: ", data.tm.nsec,"[ns]"
return RTC.RTC_OK
Modified: branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/StaticFsm/Inputbutton.py
===================================================================
--- branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/StaticFsm/Inputbutton.py 2017-12-13 00:30:12 UTC (rev 899)
+++ branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/StaticFsm/Inputbutton.py 2017-12-13 00:32:40 UTC (rev 900)
@@ -77,21 +77,21 @@
print(" stop : Stop the microwave.")
print(" tick : Proceed time.")
print(" -> others are interpreted as tick commnad.")
- #print ">> ",
- print(">> ",end="")
+ print ">> ",
+ #print(">> ",end="")
cmds = sys.stdin.readline()
cmds = cmds.split(" ")
OpenRTM_aist.StringUtil.eraseBlank(cmds)
cmds[0] = cmds[0].replace("\n","")
cmds[0] = cmds[0].replace("\r","")
- print("[command]: ",cmds[0])
- print(" [args]: ",end="")
- #print " [args]: ",
+ print "[command]: ",cmds[0]
+ #print(" [args]: ",end="")
+ print " [args]: ",
for n in range(len(cmds)):
if n == 0:
continue
- print(cmds[n],end="")
- #print cmds[n],
+ #print(cmds[n],end="")
+ print cmds[n],
print("")
if cmds[0] == "open":
self._open.data = 0
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 2017-12-13 00:30:12 UTC (rev 899)
+++ branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/StaticFsm/Microwave.py 2017-12-13 00:32:40 UTC (rev 900)
@@ -17,6 +17,8 @@
import RTC
import OpenRTM_aist
+import OpenRTM_aist.StaticFSM as StaticFSM
+import OpenRTM_aist.EventPort as EventPort
import MicrowaveFsm
@@ -43,14 +45,12 @@
return
- def onFinalize(self):
- self._fsm.exit()
- return RTC.RTC_OK
+
def onInitialize(self):
- self._fsm = OpenRTM_aist.Machine(MicrowaveFsm.TOP, self)
+ self._fsm = StaticFSM.Machine(MicrowaveFsm.TOP, self)
#self._fsm.init()
- self._eventIn = OpenRTM_aist.EventInPort("event", self._fsm)
+ self._eventIn = EventPort.EventInPort("event", self._fsm)
self.addInPort("event", self._eventIn)
self._eventIn.bindEvent0("open", MicrowaveFsm.TOP.open)
@@ -64,6 +64,11 @@
return RTC.RTC_OK
+
+ def onFinalize(self):
+ self._fsm.shutdown()
+ return RTC.RTC_OK
+
def onExecute(self, ec_id):
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 2017-12-13 00:30:12 UTC (rev 899)
+++ branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/StaticFsm/MicrowaveFsm.py 2017-12-13 00:32:40 UTC (rev 900)
@@ -15,16 +15,18 @@
import sys
+
import RTC
-import OpenRTM_aist
-import OpenRTM_aist.Macho
+import OpenRTM_aist.StaticFSM as StaticFSM
- at OpenRTM_aist.fsm_topstate
-class TOP(OpenRTM_aist.Link):
- def on_init(self):
- self.set_state(OpenRTM_aist.Macho.State(Operational))
+ at StaticFSM.FSM_TOPSTATE
+class TOP(StaticFSM.Link):
+ def onInit(self):
+ self.set_state(StaticFSM.State(Operational))
+ return RTC.RTC_OK
+
def open(self):
pass
def close(self):
@@ -55,27 +57,29 @@
- at OpenRTM_aist.fsm_substate(TOP)
-class Disabled(OpenRTM_aist.Link):
- def on_entry(self):
+ at StaticFSM.FSM_SUBSTATE(TOP)
+class Disabled(StaticFSM.Link):
+ def onEntry(self):
print(" Microwave opened")
- def on_exit(self):
+ return RTC.RTC_OK
+ def onExit(self):
print(" Microwave closed")
+ return RTC.RTC_OK
def close(self):
#self.setStateHistory(OpenRTM_aist.Macho.State(Operational))
- self.set_state(OpenRTM_aist.Macho.State(Operational))
-
+ self.set_state(StaticFSM.State(Operational))
- at OpenRTM_aist.Macho.deephistory
- at OpenRTM_aist.fsm_substate(TOP)
-class Operational(OpenRTM_aist.Link):
+ at StaticFSM.deephistory
+ at StaticFSM.FSM_SUBSTATE(TOP)
+class Operational(StaticFSM.Link):
def open(self):
- self.set_state(OpenRTM_aist.Macho.State(Disabled))
+ self.set_state(StaticFSM.State(Disabled))
def stop(self):
- self.set_state(OpenRTM_aist.Macho.State(Idle))
- def on_init(self):
- self.set_state(OpenRTM_aist.Macho.State(Idle))
+ self.set_state(StaticFSM.State(Idle))
+ def onInit(self):
+ self.set_state(StaticFSM.State(Idle))
+ return RTC.RTC_OK
@@ -85,35 +89,36 @@
- at OpenRTM_aist.fsm_substate(Operational)
-class Idle(OpenRTM_aist.Link):
+ at StaticFSM.FSM_SUBSTATE(Operational)
+class Idle(StaticFSM.Link):
def minute(self, time_):
- self.set_state(OpenRTM_aist.Macho.State(Programmed))
- self.dispatch(OpenRTM_aist.Macho.Event(TOP.minute,time_))
+ self.set_state(StaticFSM.State(Programmed))
+ self.dispatch(StaticFSM.Event(TOP.minute,time_))
- def on_entry(self):
+ def onEntry(self):
self.data(TOP).resetTimer()
print(" Microwave ready")
+ return RTC.RTC_OK
- at OpenRTM_aist.fsm_substate(Operational)
-class Programmed(OpenRTM_aist.Link):
+ at StaticFSM.FSM_SUBSTATE(Operational)
+class Programmed(StaticFSM.Link):
def minute(self, time_):
for t in range(time_.data):
self.data(TOP).incrementTimer()
self.data(TOP).printTimer()
def start(self):
- self.setState(Cooking)
+ self.set_state(StaticFSM.State(Cooking))
- at OpenRTM_aist.fsm_substate(Programmed)
-class Cooking(OpenRTM_aist.Link):
+ at StaticFSM.FSM_SUBSTATE(Programmed)
+class Cooking(StaticFSM.Link):
def tick(self):
print(" Clock tick")
tb = self.data(TOP)
@@ -120,13 +125,15 @@
tb.decrementTimer()
if tb.getRemainingTime() == 0:
print(" Finished")
- self.setState(Idle)
+ self.set_state(StaticFSM.State(Idle))
else:
tb.printTimer()
- def on_entry(self):
+ def onEntry(self):
print(" Heating on")
- def on_exit(self):
+ return RTC.RTC_OK
+ def onExit(self):
print(" Heating off")
+ return RTC.RTC_OK
Added: branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/StaticFsm/MicrowaveFsm_pyfsm.py
===================================================================
--- branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/StaticFsm/MicrowaveFsm_pyfsm.py (rev 0)
+++ branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/StaticFsm/MicrowaveFsm_pyfsm.py 2017-12-13 00:32:40 UTC (rev 900)
@@ -0,0 +1,139 @@
+#!/usr/bin/env python
+# -*- coding: euc-jp -*-
+
+##
+# @file Microwave.py
+# @brief example StaticFSM
+# @date $Date: $
+# @author Nobuhiko Miyamoto <n-miyamoto at aist.go.jp>
+#
+# Copyright (C) 2017
+# Intelligent Systems Research Institute,
+# National Institute of
+# Advanced Industrial Science and Technology (AIST), Japan
+# All rights reserved.
+
+import sys
+
+
+
+import OpenRTM_aist.StaticFSM_pyfsm as StaticFSM
+
+
+ at StaticFSM.FSM_TOPSTATE
+class TOP(StaticFSM.Link):
+ def onInit(self):
+ self.set_state(StaticFSM.State(Operational))
+ return RTC.RTC_OK
+
+
+ def open(self):
+ pass
+ def close(self):
+ pass
+ def minute(self, time_):
+ pass
+ def start(self):
+ pass
+ def stop(self):
+ pass
+ def tick(self):
+ pass
+
+ class Data:
+ def __init__(self):
+ self.myCookingTime = 0
+ def printTimer(self):
+ print " Timer set to ", self.myCookingTime, " minutes"
+ def incrementTimer(self):
+ self.myCookingTime+=1
+ def decrementTimer(self):
+ self.myCookingTime-=1
+ def resetTimer(self):
+ self.myCookingTime = 0
+ def getRemainingTime(self):
+ return self.myCookingTime
+
+
+
+
+ at StaticFSM.FSM_SUBSTATE(TOP)
+class Disabled(StaticFSM.Link):
+ def onEntry(self):
+ print(" Microwave opened")
+ return RTC.RTC_OK
+ def onExit(self):
+ print(" Microwave closed")
+ return RTC.RTC_OK
+ def close(self):
+ #self.setStateHistory(OpenRTM_aist.Macho.State(Operational))
+ self.set_state(StaticFSM.State(Operational))
+
+
+ at StaticFSM.deephistory
+ at StaticFSM.FSM_SUBSTATE(TOP)
+class Operational(StaticFSM.Link):
+ def open(self):
+ self.set_state(StaticFSM.State(Disabled))
+ def stop(self):
+ self.set_state(StaticFSM.State(Idle))
+ def onInit(self):
+ self.set_state(StaticFSM.State(Idle))
+ return RTC.RTC_OK
+
+
+
+
+
+
+
+
+
+ at StaticFSM.FSM_SUBSTATE(Operational)
+class Idle(StaticFSM.Link):
+ def minute(self, time_):
+ self.set_state(StaticFSM.State(Programmed))
+ self.dispatch(StaticFSM.Event(TOP.minute,time_))
+
+ def onEntry(self):
+ self.data(TOP).resetTimer()
+ print(" Microwave ready")
+ return RTC.RTC_OK
+
+
+
+
+
+ at StaticFSM.FSM_SUBSTATE(Operational)
+class Programmed(StaticFSM.Link):
+ def minute(self, time_):
+ for t in range(time_.data):
+ self.data(TOP).incrementTimer()
+ self.data(TOP).printTimer()
+ def start(self):
+ self.set_state(StaticFSM.State(Cooking))
+
+
+
+
+
+ at StaticFSM.FSM_SUBSTATE(Programmed)
+class Cooking(StaticFSM.Link):
+ def tick(self):
+ print(" Clock tick")
+ tb = self.data(TOP)
+ tb.decrementTimer()
+ if tb.getRemainingTime() == 0:
+ print(" Finished")
+ self.set_state(StaticFSM.State(Idle))
+ else:
+ tb.printTimer()
+
+ def onEntry(self):
+ print(" Heating on")
+ return RTC.RTC_OK
+ def onExit(self):
+ print(" Heating off")
+ return RTC.RTC_OK
+
+
Added: branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/StaticFsm/Microwave_pyfsm.py
===================================================================
--- branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/StaticFsm/Microwave_pyfsm.py (rev 0)
+++ branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/StaticFsm/Microwave_pyfsm.py 2017-12-13 00:32:40 UTC (rev 900)
@@ -0,0 +1,108 @@
+#!/usr/bin/env python
+# -*- coding: euc-jp -*-
+
+##
+# @file Microwave.py
+# @brief example StaticFSM
+# @date $Date: $
+# @author Nobuhiko Miyamoto <n-miyamoto at aist.go.jp>
+#
+# Copyright (C) 2017
+# Intelligent Systems Research Institute,
+# National Institute of
+# Advanced Industrial Science and Technology (AIST), Japan
+# All rights reserved.
+
+import sys
+
+import RTC
+import OpenRTM_aist
+import OpenRTM_aist.StaticFSM_pyfsm as StaticFSM
+import OpenRTM_aist.EventPort_pyfsm as EventPort
+
+
+import MicrowaveFsm_pyfsm
+
+microwave_spec = ["implementation_id", "Microwave",
+ "type_name", "Microwave",
+ "description", "Console input component",
+ "version", "1.0",
+ "vendor", "Nobuhiko Miyamoto",
+ "category", "example",
+ "activity_type", "DataFlowComponent",
+ "max_instance", "10",
+ "language", "Python",
+ "lang_type", "script",
+ ""]
+
+
+
+
+
+class Microwave(OpenRTM_aist.DataFlowComponentBase):
+ def __init__(self, manager):
+ OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)
+
+ return
+
+ def onFinalize(self):
+ self._fsm.exit()
+ return RTC.RTC_OK
+
+ def onInitialize(self):
+ self._fsm = StaticFSM.Machine(MicrowaveFsm.TOP, self)
+ #self._fsm.init()
+ self._eventIn = EventPort.EventInPort("event", self._fsm)
+
+ self.addInPort("event", self._eventIn)
+ self._eventIn.bindEvent0("open", MicrowaveFsm.TOP.open)
+ self._eventIn.bindEvent0("close", MicrowaveFsm.TOP.close)
+ self._eventIn.bindEvent1("minute", MicrowaveFsm.TOP.minute, RTC.TimedLong(RTC.Time(0,0),0))
+ self._eventIn.bindEvent0("start", MicrowaveFsm.TOP.start)
+ self._eventIn.bindEvent0("stop", MicrowaveFsm.TOP.stop)
+ self._eventIn.bindEvent0("tick", MicrowaveFsm.TOP.tick)
+
+
+
+ return RTC.RTC_OK
+
+
+ def onExecute(self, ec_id):
+
+
+ return RTC.RTC_OK
+
+
+def MicrowaveInit(manager):
+ profile = OpenRTM_aist.Properties(defaults_str=microwave_spec)
+ manager.registerFactory(profile,
+ Microwave,
+ OpenRTM_aist.Delete)
+
+
+def MyModuleInit(manager):
+ MicrowaveInit(manager)
+
+ # Create a component
+ comp = manager.createComponent("Microwave")
+
+def main():
+ # Initialize manager
+ mgr = OpenRTM_aist.Manager.init(sys.argv)
+
+ # Set module initialization proceduer
+ # This procedure will be invoked in activateManager() function.
+ mgr.setModuleInitProc(MyModuleInit)
+
+ # Activate manager and register to naming service
+ mgr.activateManager()
+
+ # run the manager in blocking mode
+ # runManager(False) is the default
+ mgr.runManager()
+
+ # If you want to run the manager in non-blocking mode, do like this
+ # mgr.runManager(True)
+
+if __name__ == "__main__":
+ main()
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