(states) Designators can be reset

Author: MatthijsBurgh

robot_smach_states/src/robot_smach_states/util/designators/core.py

@@ -104,6 +104,12 @@ def resolve(self):
 
         return result
 
+    def reset(self):
+        """
+        Resets the designator
+        """
+        raise NotImplementedError(f"Reset not implemented for {self.__class__.__name__}")
+
     def fail_with_type_error(self, result_type, resolve_type):
             msg = "{} resolved to a '{}' instead of expected '{}'."
             raise TypeError(msg.format(self, result_type, resolve_type))
@@ -188,6 +194,12 @@ def _set_current_protected(self, value):
                     "Expected a (subclass of) {1} but got a {2}".format(self, self.resolve_type, type(value)))
         self._current = value
 
+    def reset(self):
+        """
+        Resets the designator
+        """
+        self._current = None
+
     def _resolve(self):
         return self._current
 

robot_smach_states/src/robot_smach_states/util/designators/utility.py

@@ -84,6 +84,9 @@ def unlock(self):
         self._current = None
         self._locked = False
 
+    def reset(self):
+        self.to_be_locked.reset()
+
     def _resolve(self):
         if self._locked:
             if self._current is None: