testblock.py 文件源码

def _purged_state(self):
        rospy.logdebug("*** ENTRY _purged_state ***")
        self._wait_while_transition_is_active()
        #self.recorder_handle.record_trigger(self.trigger)
        if self.trigger.trigger == TestblockTrigger.START:
            self._start()
            new_state = TestblockState.ACTIVE
        elif self.trigger.trigger == TestblockTrigger.STOP:
            rospy.logdebug("Stopping testblock is called from _purged_state")
            self._stop()
            new_state = TestblockState.SUCCEEDED
        else:
            message = "testblock '%s': invalid transition '%s' from state '%s'" % (self.trigger.name, str(self.trigger.trigger), self.get_state())
            rospy.logerr(message)
            new_state = TestblockState.ERROR
            self.exception = message
            raise ATFTestblockError(message)
        rospy.logdebug(" _purged_state trigger : '%s'", self.trigger.trigger)
        self.trigger = None
        rospy.logdebug(" _purged_state after trigger = None : '%s'", self.trigger)
        rospy.logdebug("*** EXIT _purged_state ***")
        return new_state