Python ProxySubscriberCached.unsubscribe_topic方法代码示例

# 需要导入模块: from flexbe_core.proxy import ProxySubscriberCached [as 别名]
# 或者: from flexbe_core.proxy.ProxySubscriberCached import unsubscribe_topic [as 别名]
class PreemptableState(LoopbackState):
    """
    A state that can be preempted.
    If preempted, the state will not be executed anymore and return the outcome preempted.
    """

    _preempted_name = "preempted"
    preempt = False
    switching = False

    def __init__(self, *args, **kwargs):
        # add preempted outcome
        if len(args) > 0 and type(args[0]) is list:
            # need this ugly check for list type, because first argument in CBState is the callback
            args[0].append(self._preempted_name)
        else:
            outcomes = kwargs.get("outcomes", [])
            outcomes.append(self._preempted_name)
            kwargs["outcomes"] = outcomes

        super(PreemptableState, self).__init__(*args, **kwargs)
        self.__execute = self.execute
        self.execute = self._preemptable_execute

        self._feedback_topic = "/flexbe/command_feedback"
        self._preempt_topic = "/flexbe/command/preempt"

        self._pub = ProxyPublisher()
        self._sub = ProxySubscriberCached()

    def _preemptable_execute(self, *args, **kwargs):
        preempting = False
        if self._is_controlled and self._sub.has_msg(self._preempt_topic):
            self._sub.remove_last_msg(self._preempt_topic)
            self._pub.publish(self._feedback_topic, CommandFeedback(command="preempt"))
            preempting = True
            rospy.loginfo("--> Behavior will be preempted")

        if PreemptableState.preempt:
            PreemptableState.preempt = False
            preempting = True
            rospy.loginfo("Behavior will be preempted")

        if preempting:
            self.service_preempt()
            self._force_transition = True
            return self._preempted_name

        return self.__execute(*args, **kwargs)

    def _enable_ros_control(self):
        super(PreemptableState, self)._enable_ros_control()
        self._pub.createPublisher(self._feedback_topic, CommandFeedback)
        self._sub.subscribe(self._preempt_topic, Empty)
        PreemptableState.preempt = False

    def _disable_ros_control(self):
        super(PreemptableState, self)._disable_ros_control()
        self._sub.unsubscribe_topic(self._preempt_topic)

# 需要导入模块: from flexbe_core.proxy import ProxySubscriberCached [as 别名]
# 或者: from flexbe_core.proxy.ProxySubscriberCached import unsubscribe_topic [as 别名]
class ManuallyTransitionableState(MonitoringState):
    """
    A state for that a desired outcome can be declared.
    If any outcome is declared, this outcome is forced.
    """
    
    def __init__(self, *args, **kwargs):
        super(ManuallyTransitionableState, self).__init__(*args, **kwargs)
        
        self._force_transition = False
        
        self.__execute = self.execute
        self.execute = self._manually_transitionable_execute

        self._feedback_topic = '/flexbe/command_feedback'
        self._transition_topic = '/flexbe/command/transition'

        self._pub = ProxyPublisher()
        self._sub = ProxySubscriberCached()


    def _manually_transitionable_execute(self, *args, **kwargs):
        if self._is_controlled and self._sub.has_buffered(self._transition_topic):
            command_msg = self._sub.get_from_buffer(self._transition_topic)
            self._pub.publish(self._feedback_topic, CommandFeedback(command="transition", args=[command_msg.target, self.name]))
            if command_msg.target != self.name:
                rospy.logwarn("--> Requested outcome for state " + command_msg.target + " but active state is " + self.name)
            else:
                self._force_transition = True
                outcome = self._outcome_list[command_msg.outcome]
                rospy.loginfo("--> Manually triggered outcome " + outcome + " of state " + self.name)
                return outcome
        
        # return the normal outcome
        self._force_transition = False
        return self.__execute(*args, **kwargs)


    def _enable_ros_control(self):
        super(ManuallyTransitionableState, self)._enable_ros_control()
        self._pub.createPublisher(self._feedback_topic, CommandFeedback)
        self._sub.subscribe(self._transition_topic, OutcomeRequest)
        self._sub.enable_buffer(self._transition_topic)

    def _disable_ros_control(self):
        super(ManuallyTransitionableState, self)._disable_ros_control()
        self._sub.unsubscribe_topic(self._transition_topic)

# 需要导入模块: from flexbe_core.proxy import ProxySubscriberCached [as 别名]
# 或者: from flexbe_core.proxy.ProxySubscriberCached import unsubscribe_topic [as 别名]
class LockableState(ManuallyTransitionableState):
    """
    A state that can be locked.
    When locked, no transition can be done regardless of the resulting outcome.
    However, if any outcome would be triggered, the outcome will be stored
    and the state won't be executed anymore until it is unlocked and the stored outcome is set.
    """
    
    def __init__(self, *args, **kwargs):
        super(LockableState, self).__init__(*args, **kwargs)

        self._locked = False
        self._stored_outcome = None
        
        self.__execute = self.execute
        self.execute = self._lockable_execute

        self._feedback_topic = 'flexbe/command_feedback'
        self._lock_topic = 'flexbe/command/lock'
        self._unlock_topic = 'flexbe/command/unlock'

        self._pub = ProxyPublisher()
        self._sub = ProxySubscriberCached()


    def _lockable_execute(self, *args, **kwargs):
        if self._is_controlled and self._sub.has_msg(self._lock_topic):
            msg = self._sub.get_last_msg(self._lock_topic)
            self._sub.remove_last_msg(self._lock_topic)
            self._execute_lock(msg.data)

        if self._is_controlled and self._sub.has_msg(self._unlock_topic):
            msg = self._sub.get_last_msg(self._unlock_topic)
            self._sub.remove_last_msg(self._unlock_topic)
            self._execute_unlock(msg.data)

        if self._locked:
            if self._stored_outcome is None or self._stored_outcome == 'None':
                self._stored_outcome = self.__execute(*args, **kwargs)
            return None
            
        if not self._locked and not self._stored_outcome is None and not self._stored_outcome == 'None':
            if self._parent.transition_allowed(self.name, self._stored_outcome):
                outcome = self._stored_outcome
                self._stored_outcome = None
                return outcome
            else:
                return None

        outcome = self.__execute(*args, **kwargs)

        if outcome is None or outcome == 'None':
            return None

        if not self._parent is None and not self._parent.transition_allowed(self.name, outcome):
            self._stored_outcome = outcome
            return None

        return outcome


    def _execute_lock(self, target):
        found_target = False
        if target == self._get_path():
            found_target = True
            self._locked = True
        else:
            found_target = self._parent.lock(target)

        self._pub.publish(self._feedback_topic, CommandFeedback(command="lock", args=[target, target if found_target else ""]))
        if not found_target:
            rospy.logwarn("--> Wanted to lock %s, but could not find it in current path %s.", target, self._get_path())
        else:
            rospy.loginfo("--> Locking in state %s", target)


    def _execute_unlock(self, target):
        found_target = False
        if target == self._get_path():
            found_target = True
            self._locked = False
        else:
            found_target = self._parent.unlock(target)

        self._pub.publish(self._feedback_topic, CommandFeedback(command="unlock", args=[target, target if found_target else ""]))
        if not found_target:
            rospy.logwarn("--> Wanted to unlock %s, but could not find it in current path %s.", target, self._get_path())
        else:
            rospy.loginfo("--> Unlocking in state %s", target)


    def _enable_ros_control(self):
        super(LockableState, self)._enable_ros_control()
        self._pub.createPublisher(self._feedback_topic, CommandFeedback)
        self._sub.subscribe(self._lock_topic, String)
        self._sub.subscribe(self._unlock_topic, String)

    def _disable_ros_control(self):
        super(LockableState, self)._disable_ros_control()
        self._sub.unsubscribe_topic(self._lock_topic)
#.........这里部分代码省略.........

# 需要导入模块: from flexbe_core.proxy import ProxySubscriberCached [as 别名]
# 或者: from flexbe_core.proxy.ProxySubscriberCached import unsubscribe_topic [as 别名]
class MonitoringState(smach.State):
    """
    A state to monitor a custom set of conditions.
    For each conditions, an outcome is added or mapped which will be returned if the condition is not met. 
    """

    def __init__(self, *args, **kwargs):
        super(MonitoringState, self).__init__(*args, **kwargs)

        outcomes = kwargs.get('outcomes', [])
        self._outcome_list = list(outcomes)
        self._outcome_list.remove('loopback')

        self.name = None
        self._parent = None
        self._is_controlled = False
        self._force_monitoring = False

        self._monitored_keys = dict()
        self._sent_keys = list()
        self._current_status = None
        
        self.__execute = self.execute
        self.execute = self._monitoring_execute

        self._diagnostics_topic = 'diagnostics_agg'
        self._sub = ProxySubscriberCached()


    def _monitoring_execute(self, *args, **kwargs):
        new_status = None
        had_warning = False
        if (self._force_monitoring or self._is_controlled) and self._sub.has_buffered(self._diagnostics_topic):
            new_status = ""
            diag_msg = self._sub.get_from_buffer(self._diagnostics_topic)
            for status in diag_msg.status:
                if not status.name in self._monitored_keys.keys(): continue
                if status.level == DiagnosticStatus.WARN:
                    had_warning = True
                    if not status.name + "_warn" in self._sent_keys:
                        self._sent_keys.append(status.name + "_warn")
                        Logger.logwarn("%s: %s" % (status.name, status.message))
                if status.level == DiagnosticStatus.ERROR:
                    if not status.name + "_err" in self._sent_keys:
                        self._sent_keys.append(status.name + "_err")
                        Logger.logerr("%s: %s" % (status.name, status.message))
                    new_status = status.name

        if new_status == "":
            self._current_status = None
            new_status = None
            if not had_warning:
                self._sent_keys = list()

        if new_status is None or self._current_status == new_status:
            return self.__execute(*args, **kwargs)

        self._current_status = new_status

        return self._monitored_keys[self._current_status]


    def monitor(self, key, outcome = None):
        oc = outcome if not outcome is None else key
        self._monitored_keys[key] = oc
        if not oc in self._outcomes:
            self.register_outcomes([oc])
            self._outcome_list.append(oc)

    def force_monitoring(self):
        self._force_monitoring = True
        if not self._is_controlled:
            self._sub.subscribe(self._diagnostics_topic, DiagnosticArray)
            self._sub.enable_buffer(self._diagnostics_topic)

    def _enable_ros_control(self):
        self._is_controlled = True
        self._sub.subscribe(self._diagnostics_topic, DiagnosticArray)
        self._sub.enable_buffer(self._diagnostics_topic)

    def _disable_ros_control(self):
        self._is_controlled = False
        self._sub.unsubscribe_topic(self._diagnostics_topic)


    def _get_path(self):
        return self._parent._get_path() + "/" + self.name

# 需要导入模块: from flexbe_core.proxy import ProxySubscriberCached [as 别名]
# 或者: from flexbe_core.proxy.ProxySubscriberCached import unsubscribe_topic [as 别名]
class EventState(OperatableState):
    """
    A state that allows implementing certain events.
    """

    def __init__(self, *args, **kwargs):
        super(EventState, self).__init__(*args, **kwargs)

        self._entering = True
        self._skipped = False
        self.__execute = self.execute
        self.execute = self._event_execute

        self._paused = False
        self._last_active_container = None

        self._feedback_topic = "flexbe/command_feedback"
        self._repeat_topic = "flexbe/command/repeat"
        self._pause_topic = "flexbe/command/pause"

        self._pub = ProxyPublisher()
        self._sub = ProxySubscriberCached()

    def _event_execute(self, *args, **kwargs):
        if self._is_controlled and self._sub.has_msg(self._pause_topic):
            msg = self._sub.get_last_msg(self._pause_topic)
            if msg.data:
                self._sub.remove_last_msg(self._pause_topic)
                rospy.loginfo("--> Pausing in state %s", self.name)
                self._pub.publish(self._feedback_topic, CommandFeedback(command="pause"))
                self._last_active_container = PriorityContainer.active_container
                PriorityContainer.active_container = ""
                self._paused = True

        if self._paused and not PreemptableState.preempt:
            self._notify_skipped()
            return self._loopback_name

        if self._entering:
            self._entering = False
            self.on_enter(*args, **kwargs)
        if self._skipped:
            self._skipped = False
            self.on_resume(*args, **kwargs)

        execute_outcome = self.__execute(*args, **kwargs)

        repeat = False
        if self._is_controlled and self._sub.has_msg(self._repeat_topic):
            rospy.loginfo("--> Repeating state %s", self.name)
            self._sub.remove_last_msg(self._repeat_topic)
            self._pub.publish(self._feedback_topic, CommandFeedback(command="repeat"))
            repeat = True

        if execute_outcome != self._loopback_name and not PreemptableState.switching or repeat:
            self._entering = True
            self.on_exit(*args, **kwargs)

        return execute_outcome

    def _notify_skipped(self):
        if not self._skipped:
            self.on_pause()
            self._skipped = True
        if self._is_controlled and self._sub.has_msg(self._pause_topic):
            msg = self._sub.get_last_msg(self._pause_topic)
            if not msg.data:
                self._sub.remove_last_msg(self._pause_topic)
                rospy.loginfo("--> Resuming in state %s", self.name)
                self._pub.publish(self._feedback_topic, CommandFeedback(command="resume"))
                PriorityContainer.active_container = self._last_active_container
                self._last_active_container = None
                self._paused = False
        super(EventState, self)._notify_skipped()

    def _enable_ros_control(self):
        super(EventState, self)._enable_ros_control()
        self._pub.createPublisher(self._feedback_topic, CommandFeedback)
        self._sub.subscribe(self._repeat_topic, Empty)
        self._sub.subscribe(self._pause_topic, Bool)

    def _disable_ros_control(self):
        super(EventState, self)._disable_ros_control()
        self._sub.unsubscribe_topic(self._repeat_topic)
        self._sub.unsubscribe_topic(self._pause_topic)
        self._last_active_container = None
        if self._paused:
            PriorityContainer.active_container = None

    # Events
    # (just implement the ones you need)

    def on_start(self):
        """
        Will be executed once when the behavior starts.
        """
        pass

    def on_stop(self):
        """
#.........这里部分代码省略.........

# 需要导入模块: from flexbe_core.proxy import ProxySubscriberCached [as 别名]
# 或者: from flexbe_core.proxy.ProxySubscriberCached import unsubscribe_topic [as 别名]
class OperatableStateMachine(PreemptableStateMachine):
    """
    A state machine that can be operated.
    It synchronizes its current state with the mirror and supports some control mechanisms.
    """
    
    autonomy_level = 3
    silent_mode = False
    
    def __init__(self, *args, **kwargs):
        super(OperatableStateMachine, self).__init__(*args, **kwargs)
        self._message = None

        self.id = None
        self.autonomy = None

        self._autonomy = {}
        self._ordered_states = []
        
        self._pub = ProxyPublisher()

        self._sub = ProxySubscriberCached()


    @staticmethod
    def add(label, state, transitions = None, autonomy = None, remapping = None):
        """
        Add a state to the opened state machine.
        
        @type label: string
        @param label: The label of the state being added.
        
        @param state: An instance of a class implementing the L{State} interface.
        
        @param transitions: A dictionary mapping state outcomes to other state
        labels or container outcomes.
        
        @param autonomy: A dictionary mapping state outcomes to their required
        autonomy level

        @param remapping: A dictionary mapping local userdata keys to userdata
        keys in the container.
        """
        self = StateMachine._currently_opened_container()
        
        # add loopback transition to loopback states
        if isinstance(state, LoopbackState):
            transitions[LoopbackState._loopback_name] = label
            autonomy[LoopbackState._loopback_name] = -1
            
        self._ordered_states.append(state)
        state.name = label
        state.transitions = transitions
        state.autonomy = autonomy
        state._parent = self
            
        StateMachine.add(label, state, transitions, remapping)
        self._autonomy[label] = autonomy

    def replace(self, new_state):
        old_state = self._states[new_state.name]
        new_state.transitions = old_state.transitions
        new_state.autonomy = old_state.autonomy
        new_state._parent = old_state._parent

        self._ordered_states[self._ordered_states.index(old_state)] = new_state
        self._states[new_state.name] = new_state
            
            
    def destroy(self):
        self._notify_stop()
        self._disable_ros_control()
        self._sub.unsubscribe_topic('/flexbe/command/autonomy')
        self._sub.unsubscribe_topic('/flexbe/command/sync')
        self._sub.unsubscribe_topic('/flexbe/request_mirror_structure')
        StateLogger.shutdown()
        
        
    def confirm(self, name, id):
        """
        Confirms the state machine and triggers the creation of the structural message.
        It is mandatory to call this function at the top-level state machine
        between building it and starting its execution.
        
        @type name: string
        @param name: The name of this state machine to identify it.
        """
        self.name = name
        self.id = id

        self._pub.createPublisher('/flexbe/mirror/sync', BehaviorSync, _latch = True)   # Update mirror with currently active state (high bandwidth mode)
        self._pub.createPublisher('/flexbe/mirror/preempt', Empty, _latch = True)       # Preempts the mirror
        self._pub.createPublisher('/flexbe/mirror/structure', ContainerStructure)       # Sends the current structure to the mirror
        self._pub.createPublisher('/flexbe/log', BehaviorLog)                           # Topic for logs to the GUI
        self._pub.createPublisher('/flexbe/command_feedback', CommandFeedback)          # Gives feedback about executed commands to the GUI

        self._sub.subscribe('/flexbe/command/autonomy', UInt8, self._set_autonomy_level)
        self._sub.subscribe('/flexbe/command/sync', Empty, self._sync_callback)
        self._sub.subscribe('/flexbe/request_mirror_structure', Int32, self._mirror_structure_callback)

#.........这里部分代码省略.........