Python blackboard fixed

blackboard should be used os in cpp, that is as a dictionary

yasmin/tests/python/test_state_machine.py

@@ -26,7 +26,7 @@ def __init__(self):
     def execute(self, blackboard):
         if self.counter < 3:
             self.counter += 1
-            blackboard.foo_str = f"Counter: {self.counter}"
+            blackboard["foo_str"] = f"Counter: {self.counter}"
             return "outcome1"
         else:
             return "outcome2"
@@ -46,11 +46,19 @@ def setUp(self):
 
         self.sm = StateMachine(outcomes=["outcome4", "outcome5"])
 
-        self.sm.add_state("FOO", FooState(),
-                          transitions={"outcome1": "BAR",
-                                       "outcome2": "outcome4"})
-        self.sm.add_state("BAR", BarState(),
-                          transitions={"outcome2": "FOO"})
+        self.sm.add_state(
+            "FOO",
+            FooState(),
+            transitions={
+                "outcome1": "BAR",
+                "outcome2": "outcome4"
+            })
+        self.sm.add_state(
+            "BAR",
+            BarState(),
+            transitions={
+                "outcome2": "FOO"
+            })
 
     def test_state_machine_get_states(self):
 

yasmin_demo/yasmin_demo/action_client_demo.py

@@ -40,7 +40,7 @@ def __init__(self) -> None:
     def create_goal_handler(self, blackboard: Blackboard) -> Fibonacci.Goal:
 
         goal = Fibonacci.Goal()
-        goal.order = blackboard.n
+        goal.order = blackboard["n"]
         return goal
 
     def response_handler(
@@ -49,7 +49,7 @@ def response_handler(
         response: Fibonacci.Result
     ) -> str:
 
-        blackboard.fibo_res = response.sequence
+        blackboard["fibo_res"] = response.sequence
         return SUCCEED
 
     def print_feedback(
@@ -61,7 +61,7 @@ def print_feedback(
 
 
 def print_result(blackboard: Blackboard) -> str:
-    print(f"Result: {blackboard.fibo_res}")
+    print(f"Result: {blackboard['fibo_res']}")
     return SUCCEED
 
 
@@ -99,7 +99,7 @@ def main():
 
     # create an initial blackoard
     blackboard = Blackboard()
-    blackboard.n = 10
+    blackboard["n"] = 10
 
     # execute FSM
     outcome = sm(blackboard)

yasmin_demo/yasmin_demo/nav_demo.py

@@ -46,13 +46,13 @@ def __init__(self) -> None:
     def create_goal_handler(self, blackboard: Blackboard) -> NavigateToPose.Goal:
 
         goal = NavigateToPose.Goal()
-        goal.pose.pose = blackboard.pose
+        goal.pose.pose = blackboard["pose"]
         goal.pose.header.frame_id = "map"
         return goal
 
 
 def create_waypoints(blackboard: Blackboard) -> str:
-    blackboard.waypoints = {
+    blackboard["waypoints"] = {
         "entrance": [1.25, 6.30, -0.78, 0.67],
         "bathroom": [4.89, 1.64, 0.0, 1.0],
         "livingroom": [1.55, 4.03, -0.69, 0.72],
@@ -63,19 +63,19 @@ def create_waypoints(blackboard: Blackboard) -> str:
 
 
 def take_random_waypoint(blackboard) -> str:
-    blackboard.random_waypoints = random.sample(
-        list(blackboard.waypoints.keys()),
-        blackboard.waypoints_num)
+    blackboard["random_waypoints"] = random.sample(
+        list(blackboard["waypoints"].keys()),
+        blackboard["waypoints_num"])
     return SUCCEED
 
 
 def get_next_waypoint(blackboard: Blackboard) -> str:
 
-    if not blackboard.random_waypoints:
+    if not blackboard["random_waypoints"]:
         return END
 
-    wp_name = blackboard.random_waypoints.pop(0)
-    wp = blackboard.waypoints[wp_name]
+    wp_name = blackboard["random_waypoints"].pop(0)
+    wp = blackboard["waypoints"][wp_name]
 
     pose = Pose()
     pose.position.x = wp[0]
@@ -84,8 +84,8 @@ def get_next_waypoint(blackboard: Blackboard) -> str:
     pose.orientation.z = wp[2]
     pose.orientation.w = wp[3]
 
-    blackboard.pose = pose
-    blackboard.text = f"I have reached waypoint {wp_name}"
+    blackboard["pose"] = pose
+    blackboard["text"] = f"I have reached waypoint {wp_name}"
 
     return HAS_NEXT
 
@@ -151,7 +151,7 @@ def main():
 
     # execute FSM
     blackboard = Blackboard()
-    blackboard.waypoints_num = 2
+    blackboard["waypoints_num"] = 2
     outcome = sm(blackboard)
     print(outcome)
 

yasmin_demo/yasmin_demo/service_client_demo.py

@@ -39,8 +39,8 @@ def __init__(self) -> None:
     def create_request_handler(self, blackboard: Blackboard) -> AddTwoInts.Request:
 
         req = AddTwoInts.Request()
-        req.a = blackboard.a
-        req.b = blackboard.b
+        req.a = blackboard["a"]
+        req.b = blackboard["b"]
         return req
 
     def response_handler(
@@ -49,18 +49,18 @@ def response_handler(
         response: AddTwoInts.Response
     ) -> str:
 
-        blackboard.sum = response.sum
+        blackboard["sum"] = response.sum
         return "outcome1"
 
 
 def set_ints(blackboard: Blackboard) -> str:
-    blackboard.a = 10
-    blackboard.b = 5
+    blackboard["a"] = 10
+    blackboard["b"] = 5
     return SUCCEED
 
 
 def print_sum(blackboard: Blackboard) -> str:
-    print(f"Sum: {blackboard.sum}")
+    print(f"Sum: {blackboard['sum']}")
     return SUCCEED
 
 

yasmin_demo/yasmin_demo/yasmin_demo.py

@@ -36,7 +36,7 @@ def execute(self, blackboard: Blackboard) -> str:
 
         if self.counter < 3:
             self.counter += 1
-            blackboard.foo_str = f"Counter: {self.counter}"
+            blackboard["foo_str"] = f"Counter: {self.counter}"
             return "outcome1"
         else:
             return "outcome2"
@@ -51,7 +51,7 @@ def execute(self, blackboard: Blackboard) -> str:
         print("Executing state BAR")
         time.sleep(3)
 
-        print(blackboard.foo_str)
+        print(blackboard["foo_str"])
         return "outcome3"