[openrtm-commit:02666] r855 - in branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist: . examples/StaticFsm python3_examples/StaticFsm
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openrtm ＠ openrtm.org
2017年 7月 10日 (月) 18:17:34 JST
Author: miyamoto
Date: 2017-07-10 18:17:34 +0900 (Mon, 10 Jul 2017)
New Revision: 855
Modified:
branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/Macho.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/Macho.py
===================================================================
--- branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/Macho.py 2017-07-04 09:03:20 UTC (rev 854)
+++ branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/Macho.py 2017-07-10 09:17:34 UTC (rev 855)
@@ -35,6 +35,7 @@
class _StateSpecification(object):
+ HISTORY = False
def __init__(self, instance):
self._myStateInstance = instance
def isChild(key):
@@ -47,7 +48,7 @@
def setState(self, S, *args):
- global _theDefaultInitializer
+ #global _theDefaultInitializer
m = self._myStateInstance.machine()
instance = S._getInstance(m, S.SUPER, S)
m.setPendingState(instance, _Initializer(*args))
@@ -94,22 +95,22 @@
def setStateAlias(self,state):
state.setState(self._myStateInstance.machine())
def setStateBox(self, SUPERSTATE, S, box=None):
- global _theDefaultInitializer
+ #global _theDefaultInitializer
m = self._myStateInstance.machine()
instance = S._getInstance(m, SUPERSTATE, S)
m.myPendingBox = box
- m.setPendingState(instance, _theDefaultInitializer)
+ m.setPendingState(instance, _Initializer())
def setStateDirect(self, S, box=None):
- global _theDefaultInitializer
+ #global _theDefaultInitializer
m = self._myStateInstance.machine()
instance = S._getInstance(m, S.SUPER, S)
m.myPendingBox = box
- m.setPendingState(instance, _theDefaultInitializer)
+ m.setPendingState(instance, _Initializer())
def _restore(self, current):
self._myStateInstance.machine().myCurrentState = current
def setStateCurrent(self, current):
- global _theDefaultInitializer
- self._myStateInstance.machine().setPendingState(current, _theDefaultInitializer)
+ #global _theDefaultInitializer
+ self._myStateInstance.machine().setPendingState(current, _Initializer())
def _shutdown(self):
self._myStateInstance.machine().shutdown()
def _setHistorySuper(self, instance, deep):
@@ -235,6 +236,8 @@
def dispatch(self, event):
self["TopBase_"].dispatch(event)
+ def defer(self, event):
+ self["TopBase_"].defer(event)
class StateID:
def __init__(self):
@@ -269,12 +272,12 @@
self.myParent.exit(next)
- def init(self, history):
- global _theDefaultInitializer
+ def init(self, history, *args):
+ #global _theDefaultInitializer
if history and self.myHistory:
- self.myMachine.setPendingState(self.myHistory, _theDefaultInitializer)
+ self.myMachine.setPendingState(self.myHistory, _Initializer())
else:
- self.mySpecification.on_init()
+ self.mySpecification.on_init(*args)
self.myHistory = None
@@ -285,6 +288,7 @@
def saveHistory(self,shallow,deep):
self.mySpecification._saveHistory(self, shallow, deep)
def setHistorySuper(self, deep):
+
if self.myParent:
self.myParent.saveHistory(self, deep)
def copy(self, original):
@@ -328,6 +332,8 @@
return self.mySpecification
def box(self):
return self.myBox
+ def data(self):
+ return self.myBox
def machine(self):
return self.myMachine
def setHistory(self,history):
@@ -358,6 +364,7 @@
return _RootInstance(machine,parent)
class _SubstateInstance(_StateInstance):
+ HISTORY = False
def __init__(self, machine, parent, super_class):
super(_SubstateInstance, self).__init__(machine, parent)
self.mySpecification = super_class(self)
@@ -406,7 +413,7 @@
self.myParam6 = p6
def dispatch(self, instance):
behaviour = instance.specification()
- getattr(behaviour,self.myHandler)(self.myParam1,self.myParam2,self.myParam3,self.myParam4,self.myParam5,self.myParam6)
+ getattr(behaviour,self.myHandler.__name__)(self.myParam1,self.myParam2,self.myParam3,self.myParam4,self.myParam5,self.myParam6)
class _Event5(IEvent):
def __init__(self, handler, p1, p2, p3, p4, p5):
@@ -418,7 +425,7 @@
self.myParam5 = p5
def dispatch(self, instance):
behaviour = instance.specification()
- getattr(behaviour,self.myHandler)(self.myParam1,self.myParam2,self.myParam3,self.myParam4,self.myParam5)
+ getattr(behaviour,self.myHandler.__name__)(self.myParam1,self.myParam2,self.myParam3,self.myParam4,self.myParam5)
@@ -432,7 +439,7 @@
self.myParam4 = p4
def dispatch(self, instance):
behaviour = instance.specification()
- getattr(behaviour,self.myHandler)(self.myParam1,self.myParam2,self.myParam3,self.myParam4)
+ getattr(behaviour,self.myHandler.__name__)(self.myParam1,self.myParam2,self.myParam3,self.myParam4)
@@ -444,7 +451,7 @@
self.myParam3 = p3
def dispatch(self, instance):
behaviour = instance.specification()
- getattr(behaviour,self.myHandler)(self.myParam1,self.myParam2,self.myParam3)
+ getattr(behaviour,self.myHandler.__name__)(self.myParam1,self.myParam2,self.myParam3)
@@ -455,7 +462,7 @@
self.myParam2 = p2
def dispatch(self, instance):
behaviour = instance.specification()
- getattr(behaviour,self.myHandler)(self.myParam1,self.myParam2)
+ getattr(behaviour,self.myHandler.__name__)(self.myParam1,self.myParam2)
@@ -466,7 +473,7 @@
self.myParam1 = p1
def dispatch(self, instance):
behaviour = instance.specification()
- getattr(behaviour,self.myHandler)(self.myParam1)
+ getattr(behaviour,self.myHandler.__name__)(self.myParam1)
@@ -476,7 +483,7 @@
def dispatch(self, instance):
behaviour = instance.specification()
- getattr(behaviour,self.myHandler)()
+ getattr(behaviour,self.myHandler.__name__)()
class _Event(IEvent):
@@ -485,8 +492,7 @@
self.myParams = args
def dispatch(self, instance):
behaviour = instance.specification()
-
- getattr(behaviour,self.myHandler)(*self.myParams)
+ getattr(behaviour,self.myHandler.__name__)(*self.myParams)
@@ -517,9 +523,11 @@
def Event(R, *args):
return _Event(R, *args)
-def execute(instance, *args):
- behaviour = instance.specification()
- behaviour.on_init(*args)
+def execute(instance, history, *args):
+ #behaviour = instance.specification()
+ #behaviour.on_init(*args)
+
+ instance.init(history, *args)
def execute1(instance, p1):
behaviour = instance.specification()
@@ -546,7 +554,7 @@
behaviour.on_init(p1, p2, p3, p4, p5, p6)
-class _Initializer:
+class __Initializer:
def __init__(self):
pass
def clone(self):
@@ -556,9 +564,9 @@
def adapt(self, key):
return key
def execute(self, instance):
- pass
+ instance.init(False)
-class _StaticInitializer(_Initializer):
+class _StaticInitializer(__Initializer):
def __init__(self):
pass
def clone(self):
@@ -583,7 +591,7 @@
instance.init(True)
-class _AdaptingInitializer(_Initializer):
+class _AdaptingInitializer(__Initializer):
def __init__(self, machine):
self.myMachine = machine
def execute(self, instance):
@@ -602,15 +610,15 @@
return key
-class _Initializer(_Initializer):
+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)
+ def execute(self, instance, history_):
+ execute(instance, history_, *self.myParams)
-class _Initializer1(_Initializer):
+class _Initializer1(__Initializer):
def __init__(self, p1):
self.myParam1 = p1
def clone(self):
@@ -619,7 +627,7 @@
execute1(instance, self.myParam1)
-class _Initializer2(_Initializer):
+class _Initializer2(__Initializer):
def __init__(self, p1, p2):
self.myParam1 = p1
self.myParam2 = p2
@@ -630,7 +638,7 @@
-class _Initializer3(_Initializer):
+class _Initializer3(__Initializer):
def __init__(self, p1, p2, p3):
self.myParam1 = p1
self.myParam2 = p2
@@ -643,7 +651,7 @@
-class _Initializer4(_Initializer):
+class _Initializer4(__Initializer):
def __init__(self, p1, p2, p3, p4):
self.myParam1 = p1
self.myParam2 = p2
@@ -657,7 +665,7 @@
-class _Initializer5(_Initializer):
+class _Initializer5(__Initializer):
def __init__(self, p1, p2, p3, p4, p5):
self.myParam1 = p1
self.myParam2 = p2
@@ -674,7 +682,7 @@
-class _Initializer6(_Initializer):
+class _Initializer6(__Initializer):
def __init__(self, p1, p2, p3, p4, p5, p6):
self.myParam1 = p1
self.myParam2 = p2
@@ -702,6 +710,7 @@
self.myPendingBox = None
self.myPendingEvent = None
self.myInstances = None
+ self.myDeferEvents = []
def currentState(self):
return self.myCurrentState.key()
def setState(self, instance, init):
@@ -732,8 +741,13 @@
self.myCurrentState.entry(previous)
self.myPendingState = None
- self.myPendingInit.execute(self.myCurrentState)
+ behaviour = self.myCurrentState.specification()
+ self.myPendingInit.execute(self.myCurrentState, behaviour.HISTORY)
+ for event in self.myDeferEvents:
+ event.dispatch(self.myCurrentState)
+ self.myDeferEvents = []
+
if self.myPendingEvent:
event = self.myPendingEvent
self.myPendingEvent = None
@@ -742,7 +756,7 @@
def getInstances(self):
return self.myInstances
def start(self, instance, *args):
- global _theDefaultInitializer
+ #global _theDefaultInitializer
self.myCurrentState = _StateSpecification._getInstance(self)
self.setState(instance, _Initializer(*args))
def startAlias(self, state):
@@ -749,8 +763,8 @@
self.myCurrentState = _StateSpecification._getInstance(self)
self.setStateAlias(state)
def shutdown(self):
- global _theDefaultInitializer
- self.setState(_StateSpecification._getInstance(self), _theDefaultInitializer)
+ #global _theDefaultInitializer
+ self.setState(_StateSpecification._getInstance(self), _Initializer())
self.myCurrentState = None
def allocate(self, count):
@@ -935,8 +949,13 @@
def data(self):
self.myCurrentState.specification().box()
+ def getCurrentState(self):
+ return self.myCurrentState
+ def setCurrentState(self, S):
+ self.myCurrentState = S
def _current_state(self):
return self.myCurrentState
+ _current_state = property(getCurrentState, setCurrentState)
def getCurrent(self):
@@ -968,7 +987,14 @@
self.myCurrentState = state
current = property(getCurrent, setCurrent)
-
+ def addDeferEvent(self, event):
+ self.myDeferEvents.append(event)
+ def is_current(self, info):
+ if info.StateID == self.myCurrentState.id():
+ return True
+ else:
+ return False
+
def _createBox(place, B=None):
if B:
@@ -995,6 +1021,8 @@
self._myStateInstance.machine().setPendingEvent(event)
def machine(self):
return self._myStateInstance.machine()
+ def defer(self, event):
+ self._myStateInstance.machine().addDeferEvent(event)
@@ -1019,6 +1047,7 @@
TOP._state_name = staticmethod(lambda : TOP.__name__)
TOP.box = lambda self: self._box()
+ TOP.HISTORY = False
if hasattr(TOP, 'Data'):
TOP.Box = TOP.Data
@@ -1043,6 +1072,7 @@
Machine.theStateCount += 1
STATE._state_name = staticmethod(lambda : cls.__name__)
STATE.box = lambda self: self._box()
+ STATE.HISTORY = False
#STATE.data = lambda self: self._box()
if hasattr(STATE, 'Data'):
@@ -1050,8 +1080,20 @@
return STATE
return _substate
+
+
+
+def history(cls):
+ def _saveHistory(self,instance,shallow,deep):
+ #instance.setHistory(deep)
+ self[self.SUPER]._setHistorySuper(instance,shallow)
+ cls._saveHistory = _saveHistory
+ cls._setHistorySuper = lambda self,instance,deep: instance.setHistorySuper(deep)
+ cls.HISTORY = True
+ return cls
+
def deephistory(cls):
def _saveHistory(self,instance,shallow,deep):
instance.setHistory(deep)
@@ -1060,6 +1102,7 @@
cls._saveHistory = _saveHistory
cls._setHistorySuper = lambda self,instance,deep: instance.setHistorySuper(deep)
+ cls.HISTORY = True
return cls
Modified: branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/examples/StaticFsm/Microwave.py
===================================================================
--- branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/examples/StaticFsm/Microwave.py 2017-07-04 09:03:20 UTC (rev 854)
+++ branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/examples/StaticFsm/Microwave.py 2017-07-10 09:17:34 UTC (rev 855)
@@ -53,12 +53,12 @@
self._eventIn = OpenRTM_aist.EventInPort("event", self._fsm)
self.addInPort("event", self._eventIn)
- self._eventIn.bindEvent0("open", "open")
- self._eventIn.bindEvent0("close", "close")
- self._eventIn.bindEvent1("minute", "minute", RTC.TimedLong(RTC.Time(0,0),0))
- self._eventIn.bindEvent0("start", "start")
- self._eventIn.bindEvent0("stop", "stop")
- self._eventIn.bindEvent0("tick", "tick")
+ 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)
Modified: branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/examples/StaticFsm/MicrowaveFsm.py
===================================================================
--- branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/examples/StaticFsm/MicrowaveFsm.py 2017-07-04 09:03:20 UTC (rev 854)
+++ branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/examples/StaticFsm/MicrowaveFsm.py 2017-07-10 09:17:34 UTC (rev 855)
@@ -62,7 +62,8 @@
def on_exit(self):
print(" Microwave closed")
def close(self):
- self.setStateHistory(OpenRTM_aist.Macho.State(Operational))
+ #self.setStateHistory(OpenRTM_aist.Macho.State(Operational))
+ self.set_state(OpenRTM_aist.Macho.State(Operational))
@OpenRTM_aist.Macho.deephistory
@@ -87,7 +88,7 @@
class Idle(OpenRTM_aist.Link):
def minute(self, time_):
self.set_state(OpenRTM_aist.Macho.State(Programmed))
- self.dispatch(OpenRTM_aist.Macho.Event("minute",time_))
+ self.dispatch(OpenRTM_aist.Macho.Event(TOP.minute,time_))
def on_entry(self):
self.data(TOP).resetTimer()
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 2017-07-04 09:03:20 UTC (rev 854)
+++ branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/StaticFsm/Microwave.py 2017-07-10 09:17:34 UTC (rev 855)
@@ -53,12 +53,12 @@
self._eventIn = OpenRTM_aist.EventInPort("event", self._fsm)
self.addInPort("event", self._eventIn)
- self._eventIn.bindEvent0("open", "open")
- self._eventIn.bindEvent0("close", "close")
- self._eventIn.bindEvent1("minute", "minute", RTC.TimedLong(RTC.Time(0,0),0))
- self._eventIn.bindEvent0("start", "start")
- self._eventIn.bindEvent0("stop", "stop")
- self._eventIn.bindEvent0("tick", "tick")
+ 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)
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 2017-07-04 09:03:20 UTC (rev 854)
+++ branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/StaticFsm/MicrowaveFsm.py 2017-07-10 09:17:34 UTC (rev 855)
@@ -62,7 +62,9 @@
def on_exit(self):
print(" Microwave closed")
def close(self):
- self.setStateHistory(OpenRTM_aist.Macho.State(Operational))
+ #self.setStateHistory(OpenRTM_aist.Macho.State(Operational))
+ self.set_state(OpenRTM_aist.Macho.State(Operational))
+
@OpenRTM_aist.Macho.deephistory
@@ -87,7 +89,7 @@
class Idle(OpenRTM_aist.Link):
def minute(self, time_):
self.set_state(OpenRTM_aist.Macho.State(Programmed))
- self.dispatch(OpenRTM_aist.Macho.Event("minute",time_))
+ self.dispatch(OpenRTM_aist.Macho.Event(TOP.minute,time_))
def on_entry(self):
self.data(TOP).resetTimer()
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