logs for cancel state

uleroboticsgroup · Oct 31, 2024 · 8440876 · 8440876
1 parent a075b80
commit 8440876
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Showing 4 changed files with 8 additions and 3 deletions.
diff --git a/yasmin/include/yasmin/state.hpp b/yasmin/include/yasmin/state.hpp
@@ -24,6 +24,7 @@
 #include <cxxabi.h>
 
 #include "yasmin/blackboard/blackboard.hpp"
+#include "yasmin/logs.hpp"
 
 namespace yasmin {
 
@@ -46,7 +47,10 @@ class State {
     return "";
   }
 
-  virtual void cancel_state() { this->canceled.store(true); };
+  virtual void cancel_state() {
+    YASMIN_LOG_INFO("Canceling state '%s'", this->to_string());
+    this->canceled.store(true);
+  };
   bool is_canceled() const;
 
   std::vector<std::string> const &get_outcomes();

diff --git a/yasmin/src/yasmin/state_machine.cpp b/yasmin/src/yasmin/state_machine.cpp
@@ -275,7 +275,7 @@ StateMachine::execute(std::shared_ptr<blackboard::Blackboard> blackboard) {
   std::string outcome;
   std::string old_outcome;
 
-  while (true) {
+  while (!this->is_canceled()) {
 
     this->current_state_mutex->lock();
 

diff --git a/yasmin/yasmin/state.py b/yasmin/yasmin/state.py
@@ -58,6 +58,7 @@ def __str__(self) -> str:
         return self.__class__.__name__
 
     def cancel_state(self) -> None:
+        yasmin.YASMIN_LOG_INFO(f"Canceling state '{self}'")
         self._canceled = True
 
     def is_canceled(self) -> bool:

diff --git a/yasmin/yasmin/state_machine.py b/yasmin/yasmin/state_machine.py
@@ -203,7 +203,7 @@ def execute(self, blackboard: Blackboard) -> str:
         with self.__current_state_lock:
             self.__current_state = self._start_state
 
-        while True:
+        while not self.is_canceled():
 
             with self.__current_state_lock:
                 state = self._states[self.__current_state]