RAFCON features a nice plugin concept and there are already some plugins out there. Most notable is the “Monitoring Plugin”, which supports remote access and observation of a state-machine running somewhere in the network.
In general there are three way of how plugins can interface RAFCON:
Add or modify functionality by using predefined hooks
Derive a RAFCON class and substitute the original one
Use observers to add or modify specific behavior
Monkey patch RAFCON functionality (if absolutely necessary)
There is a plugin template demonstrating how to implement and use a plugin (in
Examples for more advanced usages of these methods can be found in the plugins
10.1. Plugin Interface¶
The path of every RAFCON plugin has to be registered in the
RAFCON_PLUGIN_PATH. In the registered path,
__init__.py and the
hooks.py of respective plugin should be
hooks.py, the following functions (hooks)
can be implemented.
The function is called after all of RAFCON imports occurred and the RAFCON singletons have been created. In this function, RAFCON classes can be extended or completely substituted. Anyway, it is good to avoid monkey patches or big substitutions of classes at this point. Especially if you extend or substitute a class that is used in a singleton make sure that your change reaches all parts of RAFCON (by explicitly substituting objects). An example is given within the Execution Hook plugin.
The function is called after the command line parameters have been processed and everything is initialized (including the loading of state machines) Furthermore, the GUI and models are fully initiated (the observers of the GUI are registered to the core-objects and other observables). In this function, observers should register their observables. Simple examples can be found in the Execution Hook plugin and in the plugin template, a more complex example is given with the Monitoring plugin.
main_window_setup (GUI only)¶
The hook is called after the view has been registered, namely at the
very end of the
register_view methods of the
MainWindowController. A reference to the main window controller is
passed as an argument.
When the GUI is running, this hook is called right before the `prepare_destruction` method of the Menu Bar is being called, thus before the GUI is being destroyed and closed. When only the core is in use, the hook is only called while the twisted reactor is running. The call is made before the twisted reactor is stopped.
When the GUI is running, this method is called after the GTK main loop has been terminated. Thus the main window has already been destroyed at this point. When only the core is in use, the hook is called right before the program ends.
10.2. Available plugins¶
For an overview of all available plugins have a look at our website.
This RAFCON plugin enables monitoring RAFCON instances via unreliable
UDP/IP. The RMPM package name is
See also: Using the monitoring plugin
DDS Monitoring Plugin¶
This plugin facilitates monitoring and remote control of RAFCON state machines via RTI DDS.
Once the plugin has been set up, RAFCON can be started in either server or client mode. Currently, only one server per DDS domain is supported; if you would like to control multiple RAFCON instances you will need to separate them by using different domain IDs.
You can start RAFCON in server mode with or without GUI:
# Start server with GUI rafcon --server # Start server without GUI rafcon_core --remote --server -o <path_to_state_machine> [<path_to_state_machine> ...]
In order to start RAFCON in client mode simply pass the
There are no restrictions on the number of clients per domain, so you can connect as many clients as you wish.
When you start RAFCON in client mode and open a state machine you will notice a new information bar at the bottom:
This bar shows the status of the state machine on the remote server. There are four different states:
Opened locally The state machine is opened locally on the client but not known to the remote server. It is therefore not possible to run this state machine.
Opened locally and on remote server The state machine is opened both locally and on the remote server. In order to start this state machine on the server you will need to make it the active state machine by clicking on Make Active. This option is only available if the currently active state machine is not running or paused.
Active on remote server The state machine is opened and active on the remote server. You can start it by using the common control options.
Running on remote server The state machine is currently running on the remote server.
You can start the clients and server in any order; on startup, they will automatically retrieve/publish the current state. However, once the server quits, the information shown on the clients will be outdated (that is, they will show an active/running state machine even if there is no server running). Note that there is no “authoritative” client and the server will process the incoming commands simply in the order they arrive. Invalid commands will be dismissed.
Execution Hook Plugin¶
This RAFCON plugin enables to use execution hooks on changes in the
execution engine. The RMPM package name is
rafcon_execution_hooks_plugin. At the moment, the plugin only
enables this hooks for the state-machine root state.
The plugin template can be found in
[RAFCON root path]/share/examples/plugins/templates.If you put this path into
RAFCON_PLUGIN_PATH environment variable, the plugin will be automatically loaded.