testblock.py 文件源码

def start(self):
        rospy.logdebug("### ENTRY  start  ###")
        # wait for old transition to finish before processing new one
        self._wait_for_transition_is_done()

        if not self.atf_started:
            raise ATFTestblockError("Calling start for testblock '%s' before ATF has been started." % self.name)
        if self.get_state() in self.m.endStates:
            raise ATFTestblockError("Calling start for testblock '%s' while testblock already stopped." % self.name)

        # set new transition trigger
        t = TestblockTrigger()
        t.stamp = rospy.Time.now()
        t.name = self.name
        t.trigger = TestblockTrigger.START
        self.trigger = t
        rospy.logdebug(" start call with trigger : '%s'", self.trigger.trigger)
        rospy.logdebug("### EXIT  start  ###")