1 version of yasmin

Former-commit-id: a17c6a3

.gitignore

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+.vscode
+log
+__pycache__

README.md

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-# YASMIN
+# YASMIN (Yet Another State Machine)
 
+## Simple Demo
+```python
+from yasmin import State
+from yasmin import StateMachine
+
+
+# define state Foo
+class Foo(State):
+    def __init__(self):
+        super().__init__(["outcome1", "outcome2"])
+        self.counter = 0
+
+    def execute(self, blackboard):
+        print("Executing state FOO")
+        if self.counter < 3:
+            self.counter += 1
+            blackboard.foo_str = "Counter: " + str(self.counter)
+            return "outcome1"
+        else:
+            return "outcome2"
+
+
+# define state Bar
+class Bar(State):
+    def __init__(self):
+        super().__init__(outcomes=["outcome2"])
+
+    def execute(self, blackboard):
+        print("Executing state BAR")
+        print(blackboard.foo_str)
+        return "outcome2"
+
+
+# main
+def main():
+    print("demo_state_machine")
+
+    # Create a state machine
+    sm = StateMachine(outcomes=["outcome4", "outcome5"])
+
+    # Add states
+    sm.add_state("FOO", Foo(),
+                 transitions={"outcome1": "BAR",
+                              "outcome2": "outcome4"})
+    sm.add_state("BAR", Bar(),
+                 transitions={"outcome2": "FOO"})
+
+    # Execute
+    outcome = sm()
+    print(outcome)
+
+
+if __name__ == "__main__":
+    main()
+```
+
+## yasmin_viewer
+
+### Installation
+```shell
+./install_viewer.sh 
+```
+
+### Run
+```shell
+ros2 run yasmin_viewer yasmin_viewer_node
+```
+
+### Viewer
+http://localhost:5000/

install_viewer.sh

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+#sudo apt install npm
+sudo pip3 install Flask waitress expiringdict
+#cd yasmin_fsm_viewer/yasmin_viewer_web_client && npm install && npm run build

yasmin/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>yasmin</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">miguel</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

yasmin/setup.cfg

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+[develop]
+script-dir=$base/lib/yasmin
+[install]
+install-scripts=$base/lib/yasmin

yasmin/setup.py

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+from setuptools import setup, find_packages
+
+package_name = 'yasmin'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='miguel',
+    maintainer_email='[email protected]',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+        ],
+    },
+)

yasmin/test/test_copyright.py

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+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

yasmin/test/test_flake8.py

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+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

yasmin/test/test_pep257.py

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+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'

yasmin/yasmin/blackboard.py

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+
+
+class Blackboard(object):
+    def __init__(self, init=None):
+        if init is not None:
+            self.__dict__.update(init)
+
+    def __getitem__(self, key):
+        return self.__dict__[key]
+
+    def __setitem__(self, key, value):
+        self.__dict__[key] = value
+
+    def __delitem__(self, key):
+        del self.__dict__[key]
+
+    def __contains__(self, key):
+        return key in self.__dict__
+
+    def __len__(self):
+        return len(self.__dict__)
+
+    def __repr__(self):
+        return repr(self.__dict__)

yasmin/yasmin/cb_state.py

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+
+
+from typing import List
+from .state import State
+
+
+class CbState(State):
+
+    def __init__(self, outcomes: List[str], cb):
+
+        super().__init__(outcomes)
+        self._cb = cb
+
+    def execute(self, blackboard):
+        return self._cb(blackboard)

yasmin/yasmin/state.py

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+
+
+from typing import List
+from abc import ABC, abstractmethod
+from .blackboard import Blackboard
+
+
+class State(ABC):
+
+    def __init__(self, outcomes: List[str]):
+        self._outcomes = []
+        self._canceled = False
+
+        if outcomes:
+            self._outcomes = outcomes
+        else:
+            raise Exception("There must be at least one outcome")
+
+    def __call__(self, blackboard: Blackboard = None):
+        self._canceled = False
+
+        if blackboard is None:
+            blackboard = Blackboard()
+
+        outcome = self.execute(blackboard)
+
+        if not outcome in self._outcomes:
+            raise Exception("Outcome " + outcome + " does not belong")
+
+        return outcome
+
+    @abstractmethod
+    def execute(self, blackboard: Blackboard) -> str:
+        """ state execution """
+
+    def __str__(self):
+        return self.__class__.__name__
+
+    def cancel_state(self):
+        self._canceled = True
+
+    def is_canceled(self):
+        return self._canceled
+
+    def get_outcomes(self) -> List[str]:
+        return self._outcomes

yasmin/yasmin/state_machine.py

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+
+
+from typing import Dict, List
+from .state import State
+from .blackboard import Blackboard
+
+
+class StateMachine(State):
+    def __init__(self, outcomes: List[str]):
+
+        super().__init__(outcomes)
+
+        self._states = {}
+        self._start_state = None
+        self._current_state = None
+
+    def add_state(self,
+                  name: str,
+                  state: State,
+                  transitions: Dict[str, str] = None):
+
+        if not transitions:
+            transitions = {}
+
+        name = name.upper()
+
+        self._states[name] = {
+            "state": state,
+            "transitions": transitions
+        }
+
+        if not self._start_state:
+            self._start_state = name
+
+    def set_start(self, name: str):
+        self._start_state = name.upper()
+
+    def cancel_state(self):
+        super().cancel_state()
+        if self._current_state:
+            self._states[self._current_state]["state"].cancel_state()
+
+    def execute(self, blackboard: Blackboard):
+
+        self._current_state = self._start_state
+
+        state = self._states[self._start_state]
+
+        while True:
+            outcome = state["state"](blackboard)
+
+            # tranlate outcome using transitions
+            if outcome in state["transitions"]:
+                outcome = state["transitions"][outcome]
+
+            # outcome is an outcome of the sm
+            if outcome in self._outcomes:
+                self._current_state = None
+                return outcome
+
+            # outcome is a state
+            elif outcome in self._states:
+                self._current_state = outcome
+                state = self._states[self._current_state]
+
+            # outcome is not in the sm
+            else:
+                raise Exception("Outcome (" + outcome + ") without transition")
+
+    def get_states(self) -> Dict[str, str]:
+        return self._states
+
+    def get_current_state(self) -> str:
+        if self._current_state:
+            return self._current_state
+
+        return ""
+
+    def __str__(self):
+        return str(self._states)