yasmin_viewer.yasmin_viewer_node.YasminFsmViewerNode Class Reference

Inheritance diagram for yasmin_viewer.yasmin_viewer_node.YasminFsmViewerNode:

Collaboration diagram for yasmin_viewer.yasmin_viewer_node.YasminFsmViewerNode:

Public Member Functions
None	__init__ (self)
None	start_backend_server (self)
None	start_subscriber (self)
Dict	transition_msg_to_dict (self, List[Transition] transitions)
Dict	state_msg_to_dict (self, State msg)
Dict	msg_to_dict (self, StateMachine msg)
None	fsm_viewer_cb (self, StateMachine msg)

Public Attributes
	fsm_viewer_cb

Private Attributes
ExpiringDict	__fsm_dict = ExpiringDict(max_len=300, max_age_seconds=3)
	A dictionary that stores FSM data with automatic expiration.

Detailed Description

A ROS 2 node that serves as a viewer for the finite state machines (FSMs)
using a Flask web server.

This class subscribes to FSM updates and serves them over HTTP. It utilizes
a dictionary with expiring entries to manage the FSM data.

Attributes:
    __fsm_dict (ExpiringDict): A dictionary that stores FSM data with
                                automatic expiration.

Methods:
    start_backend_server(): Initializes and starts the Flask server.
    start_subscriber(): Subscribes to the FSM state updates.
    transition_msg_to_dict(tansitions): Converts a list of transitions to a dictionary.
    state_msg_to_dict(msg): Converts a State message to a dictionary.
    msg_to_dict(msg): Converts a StateMachine message to a list of dictionaries.
    fsm_viewer_cb(msg): Callback function for processing FSM updates.

Constructor & Destructor Documentation

__init__()

None yasmin_viewer.yasmin_viewer_node.YasminFsmViewerNode.__init__

(

self

)

Initializes the YasminFsmViewerNode node.

Declares parameters for the host and port, sets up the expiring dictionary,
starts the subscriber thread, and initializes the backend server.

Member Function Documentation

fsm_viewer_cb()

None yasmin_viewer.yasmin_viewer_node.YasminFsmViewerNode.fsm_viewer_cb	(		self,
		StateMachine	msg )

Callback function for processing incoming StateMachine messages.

Waits for the server to start before storing the received FSM data.

:param msg: The StateMachine message containing the FSM data.

msg_to_dict()

Dict yasmin_viewer.yasmin_viewer_node.YasminFsmViewerNode.msg_to_dict	(		self,
		StateMachine	msg )

Converts a StateMachine message to a list of dictionaries.

:param msg: The StateMachine message to convert.
:return: A list of dictionaries representing the states in the StateMachine.

start_backend_server()

None yasmin_viewer.yasmin_viewer_node.YasminFsmViewerNode.start_backend_server

(

self

)

Initializes and starts the Flask backend server.

Sets up the routes for serving static files and retrieving FSM data.

:raises Exception: If the server fails to start.

start_subscriber()

None yasmin_viewer.yasmin_viewer_node.YasminFsmViewerNode.start_subscriber

(

self

)

Subscribes to the FSM state updates and starts the ROS spinning.

This method creates a subscription to the '/fsm_viewer' topic and
processes incoming messages.

:raises ExternalShutdownException: If the ROS 2 node is externally shutdown.

state_msg_to_dict()

Dict yasmin_viewer.yasmin_viewer_node.YasminFsmViewerNode.state_msg_to_dict	(		self,
		State	msg )

Converts a State message to a dictionary representation.

:param msg: The State message to convert.
:return: A dictionary containing state attributes.

transition_msg_to_dict()

Dict yasmin_viewer.yasmin_viewer_node.YasminFsmViewerNode.transition_msg_to_dict	(		self,
		List[Transition]	transitions )

Converts a list of Transition messages to a dictionary.

:param transitions: A list of Transition messages to convert.
:return: A dictionary mapping outcomes to states.

Member Data Documentation

__fsm_dict

yasmin_viewer.yasmin_viewer_node.YasminFsmViewerNode.__fsm_dict = ExpiringDict(max_len=300, max_age_seconds=3)

private

A dictionary that stores FSM data with automatic expiration.

fsm_viewer_cb

yasmin_viewer.yasmin_viewer_node.YasminFsmViewerNode.fsm_viewer_cb

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

• yasmin_viewer/yasmin_viewer/yasmin_viewer_node.py