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## description = 本教程教会你如何使用!StateMachine容器.
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== 创建状态机 ==
首先加载状态机：
{{{#!python
from smach import StateMachine
}}}

SMACH !StateMachine也提供了一个状态接口，它的结果和用户数据交互必须在构造上指定

{{{#!python
sm = StateMachine(outcomes = ['outcome1', 'outcome2'],
                  input_keys = ['input1', 'input2'],
                  output_keys = ['output1', 'output2'])
}}}

和SMACH状态接口类似，输入键和输出键是可选的。构造函数模板如下：
{{{#!python
__init__(self, outcomes, input_keys=[], output_keys=[]) 
}}}

== 添加状态 ==

当向状态机添加状态时，首先指定要添加状态的状态机。这可以通过使用Python的"with"语句完成。你可以把它想象成"opening"容器来构造。它创建了一个上下文，其中所有后续的add*调用都将应用于打开的容器。

例如，要将两个状态添加到一个名为"sm"的状态机，你可以编写以下内容:

{{{#!python
with sm:
    StateMachine.add('FOO',
                     FooState(),
                     {'outcome2':'FOO',
                      'outcome3':'BAR'})
    StateMachine.add('BAR',
                     BarState(),
                     {'outcome3':'FOO',
                      'outcome4':'outcome2'})
}}}  

上面的示例分别添加了"FOO"和"BAR"的两个状态，分别是"FooState"和"BarState"。静态添加方法有可选参数。添加方法的签名如下:
{{{#!python
add(label, state, transitions=None, remapping=None) 
}}}

有关转换的详细信息，请查看[[smach/Tutorials/Getting Started|开始指南]]

有关映射的详细信息，请查看[[smach/Tutorials/User Data|用户数据]]



                  
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