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Transition smach to same final state

asked 2017-09-07 01:56:37 -0500

amarbanerjee23 gravatar image

updated 2017-09-07 02:09:15 -0500

Hi all, I want to execute a self transition in which the initial state is same as the final state STATE_A -----> STATE_A However, when the smach.execute() is called, it continuously executes the transition in an infinite loop. My main main condition is that I need to do a self transition.

Please suggest any suitable techniques to do so. Thanks and Cheers !!

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Not sure what you are trying to do. If you at the end enter STATE_A again with the same input data as the first time, wouldn't you expect the state machine execution to loop forever?

knxa gravatar image knxa  ( 2017-09-10 09:12:23 -0500 )edit

Hi @knxa. The problem I am facing need to have a self transition from initial state A to final state A. But behaviour of initial state A is different to final state A. I wish to use the concept of entry and exit actions to create behaviour for transitions and not states.

Hope I was able to explain.

amarbanerjee23 gravatar image amarbanerjee23  ( 2017-09-12 03:39:01 -0500 )edit

I think I believe I agree with @knxa: if the behaviour is different, why are you trying to reuse the state?

gvdhoorn gravatar image gvdhoorn  ( 2017-09-12 03:41:41 -0500 )edit

Hi @gvdhoorn, I see what you are saying, but I want to reuse the state but with a different action behaviour. E.g. A->B is a transition T1 having some actions, while A->A is another transition T2 with a different action. I want to associate the behaviour with the transition not the state.

amarbanerjee23 gravatar image amarbanerjee23  ( 2017-09-12 04:08:33 -0500 )edit

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answered 2017-09-12 07:32:11 -0500

knxa gravatar image

updated 2017-09-12 07:32:56 -0500

A state represents a task being done. If the task represented by A should be performed again it makes ok sense to me to reenter A. And it makes sense that the behaviour of A might be dependent on input.

But a state is not aware of how the state was entered, whether the transition came from B or from itself or something else. You will have to provide this difference as userdata if you need it.

Consider if A really represents the same task both in the beginning and the end.

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Hi, @knxa,I tried doing that but still, the statemachine seems to run in an infinite loop. However,when I try the self transition A->A in a Concurrence container,it runs only once as per requirement. Would that be a good option ? Else, could you please give an example for A->A transition in smach ?

amarbanerjee23 gravatar image amarbanerjee23  ( 2017-09-13 02:04:31 -0500 )edit

I am not yet too experience with SMACH myself so take my input with caution. Unfortunately I don't have time to construct an example for you. Good luck.

knxa gravatar image knxa  ( 2017-09-13 02:27:02 -0500 )edit

No problem ! Thanks for your inputs !! It seems that Concurrent containers do not get into an infinite loop for a self transition and userdata does not help in changing behaviour of a state at different conditions. Thanks and Cheers !!

amarbanerjee23 gravatar image amarbanerjee23  ( 2017-09-13 02:30:38 -0500 )edit

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Asked: 2017-09-07 01:56:37 -0500

Seen: 252 times

Last updated: Sep 12 '17