yasmin_demos.monitor_demo.PrintOdometryState Class Reference

Inheritance diagram for yasmin_demos.monitor_demo.PrintOdometryState:

Collaboration diagram for yasmin_demos.monitor_demo.PrintOdometryState:

Public Member Functions
None	__init__ (self, int times)
str	monitor_handler (self, Blackboard blackboard, Odometry msg)
Public Member Functions inherited from yasmin_ros.monitor_state.MonitorState
None	__init__ (self, Type msg_type, str topic_name, Set[str] outcomes, Callable monitor_handler, Union[QoSProfile, int] qos=10, int msg_queue=10, Node node=None, int timeout=None)
str	execute (self, Blackboard blackboard)
Public Member Functions inherited from yasmin.state.State
None	__init__ (self, Set[str] outcomes)
str	__call__ (self, Blackboard blackboard=None)
str	__str__ (self)
None	cancel_state (self)
bool	is_canceled (self)
bool	is_running (self)
Set[str]	get_outcomes (self)

Public Attributes
	monitor_handler
	times = times
Public Attributes inherited from yasmin_ros.monitor_state.MonitorState
list	msg_list = []
	A set of messages received from the topic.
int	msg_queue = msg_queue
	The maximum number of messages to retain.
float	time_to_wait = 0.001
	Time to wait between checks for messages.
bool	monitoring = False
	Flag indicating if monitoring is active.

Additional Inherited Members
Protected Attributes inherited from yasmin_ros.monitor_state.MonitorState
Callable[[Blackboard, Any], None]	_monitor_handler = monitor_handler
	Function to handle incoming messages.
int	_timeout = timeout
	Timeout duration for monitoring.
Node	_node = node
	The ROS 2 node instance used for subscriptions.
str	_topic_name = topic_name
	The name of the topic to monitor.
Subscription	_sub
	Subscription object for the specified topic.
Protected Attributes inherited from yasmin.state.State
Set	_outcomes = set()
	A set of valid outcomes for this state.
bool	_running = False
	A flag indicating whether the state is currently running.
bool	_canceled = False
	A flag indicating whether the state has been canceled.

Detailed Description

MonitorState subclass to handle Odometry messages.

This state monitors Odometry messages from the specified ROS topic,
logging them and transitioning based on the number of messages received.

Attributes:
    times (int): The number of messages to monitor before transitioning
                 to the next outcome.

Parameters:
    times (int): The initial count of how many Odometry messages to
                 process before changing state.

Methods:
    monitor_handler(blackboard: Blackboard, msg: Odometry) -> str:
        Handles incoming Odometry messages, logging the message and
        returning the appropriate outcome based on the remaining count.

Constructor & Destructor Documentation

__init__()

None yasmin_demos.monitor_demo.PrintOdometryState.__init__	(		self,
		int	times )

Initializes the PrintOdometryState.

Parameters:
    times (int): The number of Odometry messages to monitor before
                 transitioning to the next outcome.

Member Function Documentation

monitor_handler()

str yasmin_demos.monitor_demo.PrintOdometryState.monitor_handler	(		self,
		Blackboard	blackboard,
		Odometry	msg )

Handles incoming Odometry messages.

This method is called whenever a new Odometry message is received.
It logs the message, decrements the count of messages to process,
and determines the next state outcome.

Parameters:
    blackboard (Blackboard): The shared data storage for states.
    msg (Odometry): The incoming Odometry message.

Returns:
    str: The next state outcome, either "outcome1" to continue
         monitoring or "outcome2" to transition to the next state.

Exceptions:
    None

Member Data Documentation

monitor_handler

yasmin_demos.monitor_demo.PrintOdometryState.monitor_handler

times

yasmin_demos.monitor_demo.PrintOdometryState.times = times

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The documentation for this class was generated from the following file:

• yasmin_demos/yasmin_demos/monitor_demo.py