Goulib.statemachine module

state machines with graph representation

class Goulib.statemachine.StateDiagram(name=None, comment=None, filename=None, directory=None, format=None, engine=None, encoding=None, graph_attr=None, node_attr=None, edge_attr=None, body=None, strict=False)

Bases: graphviz.dot.Digraph

helper to write State Diagrams graph in iPython notebook This library uses Graphviz that has to be installed separately (http://www.graphviz.org/)

state(number, descr, actions, transitions)

Parameters:

• number – the state number (int)
• descr – a string describing the state
• actions – a string describing the various actions. use <br/> to make a new line
• transitions – a array of tuple (<new_state>,”condition”)

Goulib.statemachine.noPrint(*args)

class Goulib.statemachine.Simulation

Bases: object

all simulation should derive from this class that has some helper

__init__()

setOutput(h1=<function noPrint>, h2=<function noPrint>, h3=<function noPrint>, h=<function noPrint>, hinfo=<function noPrint>, hsuccess=<function noPrint>, hwarning=<function noPrint>, herror=<function noPrint>, displayState=<function noPrint>, displayObj=<function noPrint>, displayPlot=<function noPrint>)

class Goulib.statemachine.EventLog

Bases: object

log(stateMachine)

class Goulib.statemachine.StateChangeLog(newState)

Bases: Goulib.statemachine.EventLog

__init__(newState)

class Goulib.statemachine.WaitLog(untilTime, waitForWhat)

Bases: Goulib.statemachine.EventLog

__init__(untilTime, waitForWhat)

class Goulib.statemachine.TooLateLog(pastTime, missedWhat)

Bases: Goulib.statemachine.EventLog

__init__(pastTime, missedWhat)

class Goulib.statemachine.TimeMarker(name)

Bases: object

__init__(name)

set(time)

__call__()

__repr__()

class Goulib.statemachine.StateMachine(simulation=None, name=None, background_color='#F5ECCE')

Bases: object

__init__(simulation=None, name=None, background_color='#F5ECCE')

reset()

where all actuators should be declared and other variables

__reset__()

parseDoc(state, f)

__call__(time)

find the state at time. time must be in seconds

displayGraph()

checkOnTimeAndWait(time, what)

checks that the self.time < time if this is not the case an error will be logged with the message

wait(time, cause='unknown cause')

run(start=0, stops=[], startTime=None, maxSteps=100000, maxTime=<Quantity(1000, 'second')>)

runs the behavioral simulation :params start: is the starting state of the simulation :params stops: a list of states that will stop the simulation (after having simulated this last state) :params startTime: a time to start this run if None takes self.time :params maxState: is the number of states being evaluated before the end of simulation :params maxTime: is the virtual time at which the simulation ends_in_comment_or_string :params displayStates: at every new state, display the state in Notebook as well as the time when entered :params displayMove: if True, every actuator.move displays the graph of the move

returns the time when run finishes

hinfo(*args)

hsuccess(*args)

hwarning(*args)

herror(*args)

lastExitTime(state)

display(fromTime=None, toTime=None)