yasmin_viewer.yasmin_viewer_pub.YasminViewerPub Class Reference

Collaboration diagram for yasmin_viewer.yasmin_viewer_pub.YasminViewerPub:

Public Member Functions
None	__init__ (self, str fsm_name, StateMachine fsm, int rate=4, Node node=None)
List[TransitionMsg]	parse_transitions (self, Dict[str, str] transitions)
None	parse_state (self, str state_name, Dict[str, str] state_info, List[StateMsg] states_list, int parent=-1)

Public Attributes
Node	pub = self._node.create_publisher(StateMachineMsg, "/fsm_viewer", 10)
	The publisher for the state machine messages.

Protected Member Functions
None	_publish_data (self)

Protected Attributes
StateMachine	_fsm = fsm
	The finite state machine to be published.
str	_fsm_name = fsm_name
	The name of the finite state machine.
Node	_node = node
	The ROS 2 node instance used for publishing.
Node	_timer = self._node.create_timer(1 / rate, self._publish_data)
	A timer to periodically publish the FSM state.

Detailed Description

A class to publish the state of a Finite State Machine (FSM) for visualization.

Attributes:
    _node (Node): The ROS 2 node instance used for publishing.
    _fsm (StateMachine): The finite state machine to be published.
    _fsm_name (str): The name of the finite state machine.
    pub: The publisher for the state machine messages.
    _timer: A timer to periodically publish the FSM state.

Methods:
    parse_transitions(transitions): Converts a dictionary of transitions to a list of TransitionMsg.
    parse_state(state_name, state_info, states_list, parent): Parses a state and its children recursively.
    _publish_data(): Publishes the current state of the FSM.

Constructor & Destructor Documentation

__init__()

None yasmin_viewer.yasmin_viewer_pub.YasminViewerPub.__init__	(		self,
		str	fsm_name,
		StateMachine	fsm,
		int	rate = 4,
		Node	node = None )

Initializes the YasminViewerPub instance.

Args:
    fsm_name (str): The name of the FSM.
    fsm (StateMachine): The FSM instance to be published.
    rate (int): The rate in Hz at which to publish updates. Defaults to 4.
    node (Node, optional): A custom Node instance. If None, a new YasminNode is created.

Raises:
    ValueError: If fsm_name is empty.

Member Function Documentation

_publish_data()

None yasmin_viewer.yasmin_viewer_pub.YasminViewerPub._publish_data ( self )

protected

Publishes the current state of the FSM.

This method validates the FSM, gathers its state data, and publishes it.
If validation fails, an error message is logged.

Returns:
    None

Raises:
    Exception: If the FSM validation fails, an error is logged and the function exits without publishing.

parse_state()

None yasmin_viewer.yasmin_viewer_pub.YasminViewerPub.parse_state	(		self,
		str	state_name,
		Dict[str, str]	state_info,
		List[StateMsg]	states_list,
		int	parent = -1 )

Recursively parses a state and its transitions, adding the resulting StateMsg to the states list.

Args:
    state_name (str): The name of the state.
    state_info (Dict[str, str]): Information about the state, including its transitions.
    states_list (List[StateMsg]): A list to which the parsed StateMsg will be appended.
    parent (int, optional): The ID of the parent state. Defaults to -1.

Returns:
    None

parse_transitions()

List[TransitionMsg] yasmin_viewer.yasmin_viewer_pub.YasminViewerPub.parse_transitions	(		self,
		Dict[str, str]	transitions )

Converts a dictionary of transitions into a list of TransitionMsg.

Args:
    transitions (Dict[str, str]): A dictionary where keys are outcome names and values are state names.

Returns:
    List[TransitionMsg]: A list of TransitionMsg representing the FSM transitions.

Member Data Documentation

_fsm

yasmin_viewer.yasmin_viewer_pub.YasminViewerPub._fsm = fsm

protected

The finite state machine to be published.

_fsm_name

yasmin_viewer.yasmin_viewer_pub.YasminViewerPub._fsm_name = fsm_name

protected

The name of the finite state machine.

_node

Node yasmin_viewer.yasmin_viewer_pub.YasminViewerPub._node = node

protected

The ROS 2 node instance used for publishing.

_timer

Node yasmin_viewer.yasmin_viewer_pub.YasminViewerPub._timer = self._node.create_timer(1 / rate, self._publish_data)

protected

A timer to periodically publish the FSM state.

pub

Node yasmin_viewer.yasmin_viewer_pub.YasminViewerPub.pub = self._node.create_publisher(StateMachineMsg, "/fsm_viewer", 10)

The publisher for the state machine messages.

---

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

• yasmin_viewer/yasmin_viewer/yasmin_viewer_pub.py