yasmin_ros.monitor_state.MonitorState Class Reference

Inheritance diagram for yasmin_ros.monitor_state.MonitorState:

Collaboration diagram for yasmin_ros.monitor_state.MonitorState:

Public Member Functions
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
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
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.

Protected Attributes
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.

Private Member Functions
None	__callback (self, msg)

Detailed Description

MonitorState is a state that monitors messages from a ROS topic.

Attributes:
    _node (Node): The ROS 2 node instance used for subscriptions.
    _sub (Subscription): Subscription object for the specified topic.
    _monitor_handler (Callable[[Blackboard, Any], None]): Function to handle incoming messages.
    _topic_name (str): The name of the topic to monitor.
    msg_list (List[Any]): A set of messages received from the topic.
    msg_queue (int): The maximum number of messages to retain.
    time_to_wait (float): Time to wait between checks for messages.
    monitoring (bool): Flag indicating if monitoring is active.
    _timeout (int): Timeout duration for monitoring.

Exceptions:
    None raised directly; timeout is managed via outcome handling.

Constructor & Destructor Documentation

__init__()

None yasmin_ros.monitor_state.MonitorState.__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 )

Initializes the MonitorState.

Parameters:
    msg_type (Type): The type of message to be monitored.
    topic_name (str): The name of the topic to subscribe to.
    outcomes (Set[str]): The set of possible outcomes from the state.
    monitor_handler (Callable[[Blackboard, Any], None]): The function to call with the received messages.
    qos (Union[QoSProfile, int], optional): Quality of Service profile or depth.
    msg_queue (int, optional): Maximum number of messages to store. Default is 10.
    node (Node, optional): The ROS node to use. If None, a default node is created.
    timeout (int, optional): Timeout in seconds for monitoring before giving up.

Returns:
    None

Reimplemented from yasmin.state.State.

Reimplemented in yasmin_demos.monitor_demo.PrintOdometryState.

Member Function Documentation

__callback()

None yasmin_ros.monitor_state.MonitorState.__callback ( self, msg )

private

Callback function that handles incoming messages.

This method is called when a new message is received on the monitored topic.

Parameters:
    msg: The message received from the topic.

Returns:
    None

execute()

str yasmin_ros.monitor_state.MonitorState.execute	(		self,
		Blackboard	blackboard )

Executes the monitoring state.

This method waits for messages from the monitored topic and processes them using
the specified monitor handler.

Parameters:
    blackboard (Blackboard): The blackboard instance that holds shared data.

Returns:
    str: The outcome of the monitoring process. Returns TIMEOUT if the monitoring
    time exceeds the specified timeout.

Exceptions:
    None raised directly; timeouts are handled gracefully.

Reimplemented from yasmin.state.State.

Member Data Documentation

_monitor_handler

Callable[[Blackboard, Any], None] yasmin_ros.monitor_state.MonitorState._monitor_handler = monitor_handler

protected

Function to handle incoming messages.

_node

Node yasmin_ros.monitor_state.MonitorState._node = node

protected

The ROS 2 node instance used for subscriptions.

_sub

Subscription yasmin_ros.monitor_state.MonitorState._sub

protected

Initial value:

=  self._node.create_subscription(
            msg_type, topic_name, self.__callback, qos
        )

Subscription object for the specified topic.

_timeout

int yasmin_ros.monitor_state.MonitorState._timeout = timeout

protected

Timeout duration for monitoring.

_topic_name

str yasmin_ros.monitor_state.MonitorState._topic_name = topic_name

protected

The name of the topic to monitor.

monitoring

bool yasmin_ros.monitor_state.MonitorState.monitoring = False

Flag indicating if monitoring is active.

msg_list

list yasmin_ros.monitor_state.MonitorState.msg_list = []

A set of messages received from the topic.

msg_queue

int yasmin_ros.monitor_state.MonitorState.msg_queue = msg_queue

The maximum number of messages to retain.

time_to_wait

yasmin_ros.monitor_state.MonitorState.time_to_wait = 0.001

Time to wait between checks for messages.

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

• yasmin_ros/yasmin_ros/monitor_state.py