yasmin_ros.action_state.ActionState Class Reference

Inheritance diagram for yasmin_ros.action_state.ActionState:

Collaboration diagram for yasmin_ros.action_state.ActionState:

Public Member Functions
None	__init__ (self, Type action_type, str action_name, Callable create_goal_handler, Set[str] outcomes=None, Callable result_handler=None, Callable feedback_handler=None, Node node=None, float timeout=None)
None	cancel_state (self)
str	execute (self, Blackboard blackboard)
Public Member Functions inherited from yasmin.state.State
str	__call__ (self, Blackboard blackboard=None)
str	__str__ (self)
bool	is_canceled (self)
bool	is_running (self)
Set[str]	get_outcomes (self)

Protected Member Functions
None	_goal_response_callback (self, Future future)
None	_get_result_callback (self, Future future)

Protected Attributes
Event	_action_done_event = Event()
	Event used to wait for action completion.
Any	_action_result = None
	The result returned by the action server.
GoalStatus	_action_status = None
	The status of the action execution.
ClientGoalHandle	_goal_handle = None
	Handle for the goal sent to the action server.
RLock	_goal_handle_lock = RLock()
	Lock to manage access to the goal handle.
Callable[[Blackboard], Any]	_create_goal_handler = create_goal_handler
	Function that creates the goal to send.
Callable[[Blackboard, Any], str]	_result_handler = result_handler
	Function to handle the result from the action server.
Callable[[Blackboard, Any], None]	_feedback_handler = feedback_handler
	Function to handle feedback from the action server.
float	_timeout = timeout
	Timeout duration for waiting for the action server.
Node	_node = node
	The ROS 2 node instance used to communicate with the action server.
str	_action_name = action_name
	The name of the action to be performed.
ActionClient	_action_client
	The action client used to send goals.
	_goal_response_callback
	_get_result_callback
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

Represents a state that interacts with a ROS 2 action server.

This class encapsulates the functionality needed to manage
the sending and receiving of goals to and from an action server.

Attributes:
    _node (Node): The ROS 2 node instance used to communicate with the action server.
    _action_name (str): The name of the action to be performed.
    _action_client (ActionClient): The action client used to send goals.
    _action_done_event (Event): Event used to wait for action completion.
    _action_result (Any): The result returned by the action server.
    _action_status (GoalStatus): The status of the action execution.
    _goal_handle (ClientGoalHandle): Handle for the goal sent to the action server.
    _goal_handle_lock (RLock): Lock to manage access to the goal handle.
    _create_goal_handler (Callable[[Blackboard], Any]): Function that creates the goal to send.
    _result_handler (Callable[[Blackboard, Any], str]): Function to handle the result from the action server.
    _feedback_handler (Callable[[Blackboard, Any], None]): Function to handle feedback from the action server.
    _timeout (float): Timeout duration for waiting for the action server.

Constructor & Destructor Documentation

__init__()

None yasmin_ros.action_state.ActionState.__init__	(		self,
		Type	action_type,
		str	action_name,
		Callable	create_goal_handler,
		Set[str]	outcomes = None,
		Callable	result_handler = None,
		Callable	feedback_handler = None,
		Node	node = None,
		float	timeout = None )

Initializes the ActionState instance.

This constructor sets up the action client and prepares to handle goals.

Parameters:
    action_type (Type): The type of the action to be executed.
    action_name (str): The name of the action to be executed.
    create_goal_handler (Callable[[Blackboard], Any])): A function that generates the goal.
    outcomes (Set[str], optional): Additional outcomes that this state can return.
    result_handler (Callable[[Blackboard, Any], str], optional): A function to process the result of the action.
    feedback_handler (Callable[[Blackboard, Any], None], optional): A function to process feedback from the action.
    node (Node, optional): The ROS 2 node to use. If None, uses the default YasminNode.
    timeout (float, optional): Timeout duration for waiting for the action server.

Raises:
    ValueError: If create_goal_handler is None.

Reimplemented from yasmin.state.State.

Reimplemented in yasmin_demos.action_client_demo.FibonacciState, and yasmin_demos.nav_demo.Nav2State.

Member Function Documentation

_get_result_callback()

None yasmin_ros.action_state.ActionState._get_result_callback ( self, Future future )

protected

Callback to handle the result of the executed action.

This method sets the action result and status, and signals that the action is done.

Parameters:
    future: The future object representing the result of the action execution.

_goal_response_callback()

None yasmin_ros.action_state.ActionState._goal_response_callback ( self, Future future )

protected

Callback to handle the response from sending a goal.

This method retrieves the goal handle and sets up the result callback.

Parameters:
    future: The future object representing the result of the goal sending operation.

cancel_state()

None yasmin_ros.action_state.ActionState.cancel_state

(

self

)

Cancels the current action state.

This method cancels the goal sent to the action server, if it exists.

Reimplemented from yasmin.state.State.

execute()

str yasmin_ros.action_state.ActionState.execute	(		self,
		Blackboard	blackboard )

Executes the action state by sending a goal to the action server.

This method waits for the action server to be available, sends the goal,
and waits for the action to complete, handling feedback and results.

Parameters:
    blackboard (Blackboard): The blackboard instance used for state management.

Returns:
    str: The outcome of the action execution (e.g., SUCCEED, ABORT, CANCEL, TIMEOUT).

Raises:
    Exception: Raises an exception if any error occurs during action execution.

Reimplemented from yasmin.state.State.

Member Data Documentation

_action_client

ActionClient yasmin_ros.action_state.ActionState._action_client

protected

Initial value:

=  ActionClient(
            self._node,
            action_type,
            action_name,
            callback_group=ReentrantCallbackGroup(),
        )

The action client used to send goals.

_action_done_event

Event yasmin_ros.action_state.ActionState._action_done_event = Event()

protected

Event used to wait for action completion.

_action_name

str yasmin_ros.action_state.ActionState._action_name = action_name

protected

The name of the action to be performed.

_action_result

Any yasmin_ros.action_state.ActionState._action_result = None

protected

The result returned by the action server.

_action_status

GoalStatus yasmin_ros.action_state.ActionState._action_status = None

protected

The status of the action execution.

_create_goal_handler

Callable[[Blackboard], Any] yasmin_ros.action_state.ActionState._create_goal_handler = create_goal_handler

protected

Function that creates the goal to send.

_feedback_handler

Callable[[Blackboard, Any], None] yasmin_ros.action_state.ActionState._feedback_handler = feedback_handler

protected

Function to handle feedback from the action server.

_get_result_callback

yasmin_ros.action_state.ActionState._get_result_callback

protected

_goal_handle

ClientGoalHandle yasmin_ros.action_state.ActionState._goal_handle = None

protected

Handle for the goal sent to the action server.

_goal_handle_lock

RLock yasmin_ros.action_state.ActionState._goal_handle_lock = RLock()

protected

Lock to manage access to the goal handle.

_goal_response_callback

yasmin_ros.action_state.ActionState._goal_response_callback

protected

_node

Node yasmin_ros.action_state.ActionState._node = node

protected

The ROS 2 node instance used to communicate with the action server.

_result_handler

Callable[[Blackboard, Any], str] yasmin_ros.action_state.ActionState._result_handler = result_handler

protected

Function to handle the result from the action server.

_timeout

yasmin_ros.action_state.ActionState._timeout = timeout

protected

Timeout duration for waiting for the action server.

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

• yasmin_ros/yasmin_ros/action_state.py