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Added support for multiple outcomes for each state when using Concurrence class #65

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Added support for multiple outcomes for each state when using Concurrence class #65

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74a0d24
Changed the outcome_map structure in Concurrence class from {outcome:…
carlosmccosta Sep 9, 2019
1f9a14f
Added backwards compatibility.
carlosmccosta Aug 11, 2020
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43 changes: 26 additions & 17 deletions smach/src/smach/concurrence.py
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Original file line number Diff line number Diff line change
Expand Up @@ -66,13 +66,13 @@ def __init__(self,
@type outcome_map: list
@param outcome_map: This is an outcome map for determining the
outcome of this container. Each outcome of the container is mapped
to a dictionary mapping child labels onto outcomes. If none of the
to a list containing dictionaries mapping child labels onto outcomes. If none of the
child-outcome maps is satisfied, the concurrence will terminate
with thhe default outcome.
with the default outcome.

For example, if the and_outcome_map is:
{'succeeded' : {'FOO':'succeeded', 'BAR':'done'},
'aborted' : {'FOO':'aborted'}}
{'succeeded' : [{'FOO':'succeeded'}, {'BAR':'done'}],
'aborted' : [{'FOO':'aborted'}]}
Then the concurrence will terimate with outcome 'succeeded' only if
BOTH states 'FOO' and 'BAR' have terminated
with outcomes 'succeeded' and 'done', respectively. The outcome
Expand Down Expand Up @@ -281,10 +281,13 @@ def execute(self, parent_ud = smach.UserData()):

# Determine the outcome from the outcome map
smach.logdebug("SMACH Concurrence determining contained state outcomes.")
for (container_outcome, outcomes) in ((k,self._outcome_map[k]) for k in self._outcome_map):
if all([self._child_outcomes[label] == outcomes[label] for label in outcomes]):
smach.logdebug("Terminating concurrent split with mapped outcome.")
outcome = container_outcome
for (container_outcome, outcomes_list) in ((k,self._outcome_map[k]) for k in self._outcome_map):
if not isinstance(outcomes_list, list):
outcomes_list = [outcomes_list]
for outcomes in outcomes_list:
if all([self._child_outcomes[label] == outcomes[label] for label in outcomes]):
smach.logdebug("Terminating concurrent split with mapped outcome.")
outcome = container_outcome

# Check outcome callback
if self._outcome_cb:
Expand Down Expand Up @@ -391,16 +394,22 @@ def get_active_states(self):

def get_internal_edges(self):
int_edges = []
for (container_outcome, outcomes) in ((k,self._outcome_map[k]) for k in self._outcome_map):
for state_key in outcomes:
int_edges.append((outcomes[state_key], state_key, container_outcome))
for (container_outcome, outcomes_list) in ((k,self._outcome_map[k]) for k in self._outcome_map):
if not isinstance(outcomes_list, list):
outcomes_list = [outcomes_list]
for outcomes in outcomes_list:
for state_key in outcomes:
int_edges.append((outcomes[state_key], state_key, container_outcome))
return int_edges

def check_consistency(self):
for (co,cso) in ((k,self._outcome_map[k]) for k in self._outcome_map):
for state_label,outcome in ((k,cso[k]) for k in cso):
if outcome not in self._states[state_label].get_registered_outcomes():
raise smach.InvalidTransitionError(
'Outcome map in SMACH Concurrence references a state outcome that does not exist. Requested state outcome: \'%s\', but state \'%s\' only has outcomes %s' %
(outcome, state_label, str(self._states[state_label].get_registered_outcomes())))
for (co,outcomes_list) in ((k,self._outcome_map[k]) for k in self._outcome_map):
if not isinstance(outcomes_list, list):
outcomes_list = [outcomes_list]
for cso in outcomes_list:
for state_label,outcome in ((k,cso[k]) for k in cso):
if outcome not in self._states[state_label].get_registered_outcomes():
raise smach.InvalidTransitionError(
'Outcome map in SMACH Concurrence references a state outcome that does not exist. Requested state outcome: \'%s\', but state \'%s\' only has outcomes %s' %
(outcome, state_label, str(self._states[state_label].get_registered_outcomes())))