hbp_nrp_excontrol.StateMachineRunner module

This module contains the start script of a state machine process

class StateMachineRunner(sm_id, path)

Bases: object

Class encapsulating a running application to expose a state machine

get_result(request)

Gets the result of the state machine

static get_state(request)

Gets the current state machines current state

Parameters

request – The mandatory ROS request parameter

init()

Initializes the current state machine runner

initialize_sm(request)

Initializes the current state machine

Parameters

request – The mandatory ROS request parameter

restart(request)

Restarts the current state machine

Parameters

request – The mandatory ROS request parameter

send_error(msg, error_type, severity=1, line_number=- 1, offset=- 1, line_text='')

Sends an error message to clients

Parameters

• msg – The error message

• severity – The severity of the error

• error_type – The error type, e.g. “Compile”

• line_number – The line number where the error occurred

• offset – The offset

• line_text – The text of the line causing the error

start(request)

Starts the current state machine

Parameters

request – The mandatory ROS request parameter

stop(request)

Stops the current state machine

Parameters

request – The mandatory ROS request parameter

main()

Runs the state machine runner

print_full_stack_trace(sig, frame)

Log the stack trace of all the threads

Parameters

• sig – The received signal

• frame – The current stack frame

set_up_logger(logfile_name, verbose=False)

Configure the root logger of the CLE application

Param

logfile_name: name of the file created to collect logs

Param

verbose: increase logging verbosity