# {py:mod}`ros_sugar.core.routine`

```{py:module} ros_sugar.core.routine
```

```{autodoc2-docstring} ros_sugar.core.routine
:allowtitles:
```

## Module Contents

### Classes

````{list-table}
:class: autosummary longtable
:align: left

* - {py:obj}`RoutineStatus <ros_sugar.core.routine.RoutineStatus>`
  - ```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus
    :summary:
    ```
* - {py:obj}`Routine <ros_sugar.core.routine.Routine>`
  - ```{autodoc2-docstring} ros_sugar.core.routine.Routine
    :summary:
    ```
````

### API

`````{py:class} RoutineStatus()
:canonical: ros_sugar.core.routine.RoutineStatus

Bases: {py:obj}`ros_sugar.config.StrEnum`

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus
```

````{py:method} is_terminal() -> bool
:canonical: ros_sugar.core.routine.RoutineStatus.is_terminal

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.is_terminal
```

````

````{py:method} get_enum(__value: str) -> typing.Optional[ros_sugar.config.robot.T]
:canonical: ros_sugar.core.routine.RoutineStatus.get_enum
:classmethod:

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.get_enum
```

````

````{py:method} values() -> typing.List[str]
:canonical: ros_sugar.core.routine.RoutineStatus.values
:classmethod:

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.values
```

````

````{py:method} capitalize()
:canonical: ros_sugar.core.routine.RoutineStatus.capitalize

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.capitalize
```

````

````{py:method} casefold()
:canonical: ros_sugar.core.routine.RoutineStatus.casefold

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.casefold
```

````

````{py:method} center()
:canonical: ros_sugar.core.routine.RoutineStatus.center

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.center
```

````

````{py:method} count()
:canonical: ros_sugar.core.routine.RoutineStatus.count

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.count
```

````

````{py:method} encode()
:canonical: ros_sugar.core.routine.RoutineStatus.encode

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.encode
```

````

````{py:method} endswith()
:canonical: ros_sugar.core.routine.RoutineStatus.endswith

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.endswith
```

````

````{py:method} expandtabs()
:canonical: ros_sugar.core.routine.RoutineStatus.expandtabs

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.expandtabs
```

````

````{py:method} find()
:canonical: ros_sugar.core.routine.RoutineStatus.find

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.find
```

````

````{py:method} format()
:canonical: ros_sugar.core.routine.RoutineStatus.format

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.format
```

````

````{py:method} format_map()
:canonical: ros_sugar.core.routine.RoutineStatus.format_map

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.format_map
```

````

````{py:method} index()
:canonical: ros_sugar.core.routine.RoutineStatus.index

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.index
```

````

````{py:method} isalnum()
:canonical: ros_sugar.core.routine.RoutineStatus.isalnum

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.isalnum
```

````

````{py:method} isalpha()
:canonical: ros_sugar.core.routine.RoutineStatus.isalpha

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.isalpha
```

````

````{py:method} isascii()
:canonical: ros_sugar.core.routine.RoutineStatus.isascii

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.isascii
```

````

````{py:method} isdecimal()
:canonical: ros_sugar.core.routine.RoutineStatus.isdecimal

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.isdecimal
```

````

````{py:method} isdigit()
:canonical: ros_sugar.core.routine.RoutineStatus.isdigit

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.isdigit
```

````

````{py:method} isidentifier()
:canonical: ros_sugar.core.routine.RoutineStatus.isidentifier

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.isidentifier
```

````

````{py:method} islower()
:canonical: ros_sugar.core.routine.RoutineStatus.islower

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.islower
```

````

````{py:method} isnumeric()
:canonical: ros_sugar.core.routine.RoutineStatus.isnumeric

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.isnumeric
```

````

````{py:method} isprintable()
:canonical: ros_sugar.core.routine.RoutineStatus.isprintable

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.isprintable
```

````

````{py:method} isspace()
:canonical: ros_sugar.core.routine.RoutineStatus.isspace

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.isspace
```

````

````{py:method} istitle()
:canonical: ros_sugar.core.routine.RoutineStatus.istitle

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.istitle
```

````

````{py:method} isupper()
:canonical: ros_sugar.core.routine.RoutineStatus.isupper

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.isupper
```

````

````{py:method} join()
:canonical: ros_sugar.core.routine.RoutineStatus.join

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.join
```

````

````{py:method} ljust()
:canonical: ros_sugar.core.routine.RoutineStatus.ljust

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.ljust
```

````

````{py:method} lower()
:canonical: ros_sugar.core.routine.RoutineStatus.lower

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.lower
```

````

````{py:method} lstrip()
:canonical: ros_sugar.core.routine.RoutineStatus.lstrip

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.lstrip
```

````

````{py:method} partition()
:canonical: ros_sugar.core.routine.RoutineStatus.partition

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.partition
```

````

````{py:method} removeprefix()
:canonical: ros_sugar.core.routine.RoutineStatus.removeprefix

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.removeprefix
```

````

````{py:method} removesuffix()
:canonical: ros_sugar.core.routine.RoutineStatus.removesuffix

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.removesuffix
```

````

````{py:method} replace()
:canonical: ros_sugar.core.routine.RoutineStatus.replace

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.replace
```

````

````{py:method} rfind()
:canonical: ros_sugar.core.routine.RoutineStatus.rfind

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.rfind
```

````

````{py:method} rindex()
:canonical: ros_sugar.core.routine.RoutineStatus.rindex

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.rindex
```

````

````{py:method} rjust()
:canonical: ros_sugar.core.routine.RoutineStatus.rjust

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.rjust
```

````

````{py:method} rpartition()
:canonical: ros_sugar.core.routine.RoutineStatus.rpartition

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.rpartition
```

````

````{py:method} rsplit()
:canonical: ros_sugar.core.routine.RoutineStatus.rsplit

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.rsplit
```

````

````{py:method} rstrip()
:canonical: ros_sugar.core.routine.RoutineStatus.rstrip

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.rstrip
```

````

````{py:method} split()
:canonical: ros_sugar.core.routine.RoutineStatus.split

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.split
```

````

````{py:method} splitlines()
:canonical: ros_sugar.core.routine.RoutineStatus.splitlines

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.splitlines
```

````

````{py:method} startswith()
:canonical: ros_sugar.core.routine.RoutineStatus.startswith

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.startswith
```

````

````{py:method} strip()
:canonical: ros_sugar.core.routine.RoutineStatus.strip

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.strip
```

````

````{py:method} swapcase()
:canonical: ros_sugar.core.routine.RoutineStatus.swapcase

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.swapcase
```

````

````{py:method} title()
:canonical: ros_sugar.core.routine.RoutineStatus.title

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.title
```

````

````{py:method} translate()
:canonical: ros_sugar.core.routine.RoutineStatus.translate

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.translate
```

````

````{py:method} upper()
:canonical: ros_sugar.core.routine.RoutineStatus.upper

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.upper
```

````

````{py:method} zfill()
:canonical: ros_sugar.core.routine.RoutineStatus.zfill

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.zfill
```

````

````{py:method} name()
:canonical: ros_sugar.core.routine.RoutineStatus.name

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.name
```

````

````{py:method} value()
:canonical: ros_sugar.core.routine.RoutineStatus.value

```{autodoc2-docstring} ros_sugar.core.routine.RoutineStatus.value
```

````

`````

`````{py:class} Routine(name: str, steps: typing.List[typing.Union[ros_sugar.core.action.Action, ros_sugar.core.action.ActionServerGoal, typing.Callable]], on_complete: typing.Optional[typing.Union[ros_sugar.core.action.Action, ros_sugar.core.action.ActionServerGoal, typing.Callable]] = None, on_abort: typing.Optional[typing.Union[ros_sugar.core.action.Action, ros_sugar.core.action.ActionServerGoal, typing.Callable]] = None, on_pause: typing.Optional[typing.Union[ros_sugar.core.action.Action, ros_sugar.core.action.ActionServerGoal, typing.Callable, typing.Sequence[typing.Union[ros_sugar.core.action.Action, ros_sugar.core.action.ActionServerGoal, typing.Callable]]]] = None, description: typing.Optional[str] = None)
:canonical: ros_sugar.core.routine.Routine

```{autodoc2-docstring} ros_sugar.core.routine.Routine
```

````{py:method} from_spec(spec: typing.Dict, resolve: typing.Callable[[typing.Dict], ros_sugar.core.action.Action]) -> ros_sugar.core.routine.Routine
:canonical: ros_sugar.core.routine.Routine.from_spec
:classmethod:

```{autodoc2-docstring} ros_sugar.core.routine.Routine.from_spec
```

````

````{py:method} set_host(host) -> None
:canonical: ros_sugar.core.routine.Routine.set_host

```{autodoc2-docstring} ros_sugar.core.routine.Routine.set_host
```

````

````{py:method} set_state_publisher(publish: typing.Optional[typing.Callable[[str], None]]) -> None
:canonical: ros_sugar.core.routine.Routine.set_state_publisher

```{autodoc2-docstring} ros_sugar.core.routine.Routine.set_state_publisher
```

````

````{py:method} actions() -> typing.List[ros_sugar.core.action.Action]
:canonical: ros_sugar.core.routine.Routine.actions

```{autodoc2-docstring} ros_sugar.core.routine.Routine.actions
```

````

````{py:method} stop_watching() -> None
:canonical: ros_sugar.core.routine.Routine.stop_watching

```{autodoc2-docstring} ros_sugar.core.routine.Routine.stop_watching
```

````

````{py:method} get_required_topics() -> typing.List[ros_sugar.io.Topic]
:canonical: ros_sugar.core.routine.Routine.get_required_topics

```{autodoc2-docstring} ros_sugar.core.routine.Routine.get_required_topics
```

````

````{py:property} state
:canonical: ros_sugar.core.routine.Routine.state
:type: typing.Dict

```{autodoc2-docstring} ros_sugar.core.routine.Routine.state
```

````

````{py:property} latest_step_messages
:canonical: ros_sugar.core.routine.Routine.latest_step_messages
:type: typing.Dict[str, str]

```{autodoc2-docstring} ros_sugar.core.routine.Routine.latest_step_messages
```

````

````{py:method} step_messages(index: typing.Optional[int] = None) -> typing.Union[typing.List[typing.Dict], typing.Dict]
:canonical: ros_sugar.core.routine.Routine.step_messages

```{autodoc2-docstring} ros_sugar.core.routine.Routine.step_messages
```

````

````{py:method} pause(**_) -> ros_sugar.utils.ActionReturnType
:canonical: ros_sugar.core.routine.Routine.pause

```{autodoc2-docstring} ros_sugar.core.routine.Routine.pause
```

````

````{py:method} resume(**_) -> ros_sugar.utils.ActionReturnType
:canonical: ros_sugar.core.routine.Routine.resume

```{autodoc2-docstring} ros_sugar.core.routine.Routine.resume
```

````

````{py:method} abort(reason: str = 'aborted by request', run_on_abort: bool = True, **_) -> ros_sugar.utils.ActionReturnType
:canonical: ros_sugar.core.routine.Routine.abort

```{autodoc2-docstring} ros_sugar.core.routine.Routine.abort
```

````

````{py:method} halt_in_flight() -> None
:canonical: ros_sugar.core.routine.Routine.halt_in_flight

```{autodoc2-docstring} ros_sugar.core.routine.Routine.halt_in_flight
```

````

`````