Metadata-Version: 2.1
Name: rafcon
Version: 2.3.0
Summary: Develop your robotic tasks with hierarchical state machines using an intuitive graphical user interface
Keywords: state machine,robotic,FSM,development,GUI,visual programming
Author-Email: Sebastian Brunner <sebastian.brunner@dlr.de>, Rico Belder <rico.belder@dlr.de>, Franz Steinmetz <franz.steinmetz@dlr.de>
License: EPL
Classifier: Development Status :: 4 - Beta
Classifier: Environment :: Console
Classifier: Environment :: X11 Applications :: GTK
Classifier: Framework :: Robot Framework
Classifier: Intended Audience :: Developers
Classifier: Intended Audience :: Education
Classifier: Intended Audience :: Manufacturing
Classifier: Intended Audience :: Science/Research
Classifier: License :: OSI Approved :: Eclipse Public License 1.0 (EPL-1.0)
Classifier: Natural Language :: English
Classifier: Operating System :: Unix
Classifier: Programming Language :: Python :: 3.6
Classifier: Topic :: Scientific/Engineering
Classifier: Topic :: Software Development
Classifier: Topic :: Utilities
Project-URL: Homepage, https://github.com/DLR-RM/RAFCON
Requires-Python: >=3.9
Requires-Dist: wrapt<2.0.0,>=1.14.0
Requires-Dist: astroid<4.0.0,>=2.15.8
Requires-Dist: gaphas<2.2.0,>=2.1.0
Requires-Dist: jsonconversion<2.0.0,>=1.1.0
Requires-Dist: psutil<6.0.0,>=5.0.0
Requires-Dist: pycairo<2.0.0,>=1.11.0
Requires-Dist: pylint<4.0.0,>=2.11.0
Requires-Dist: simplegeneric<1.0.0,>=0.5.0
Requires-Dist: numpy<3.0,>=1.23
Requires-Dist: pandas<2.0.0,>=1.2.0
Requires-Dist: yaml_configuration<0.4.0,>=0.2.5
Requires-Dist: setuptools; python_version >= "3.12"
Provides-Extra: gtk
Requires-Dist: PyGObject<3.51.0,>=3.42.0; extra == "gtk"
Description-Content-Type: text/x-rst


RAFCON
======

.. figure:: documents/assets/Screenshot_Drill_Skill_Scaled.png
   :figwidth: 100%
   :width: 800px
   :align: left
   :alt: Screenshot showing RAFCON with a big state machine
   :target: documents/assets/Screenshot_Drill_Skill_Scaled.png?raw=true

* Documentation: Hosted on `Read the Docs <http://rafcon.readthedocs.io/en/latest/>`_
* Homepage: `DLR-RM.github.io/RAFCON/ <https://dlr-rm.github.io/RAFCON/>`_
* License: `EPL <https://github.com/DLR-RM/RAFCON/blob/master/LICENSE>`_
* Cheatsheet: `Download Cheatsheet <doc/_static/rafcon_cheatsheet.pdf>`_

Develop your robotic tasks using an intuitive graphical user interface
----------------------------------------------------------------------

RAFCON uses hierarchical state machines, featuring concurrent state execution, to represent robot programs.
It ships with a graphical user interface supporting the creation of state machines and
contains IDE like debugging mechanisms. Alternatively, state machines can programmatically be generated
using RAFCON's API.

Universal application

  RAFCON is written in Python, can be extended with plugins and is hard- and middleware independent.

Visual programming

  The sophisticated graphical editor can be used for the creation, execution and debugging of state machines.

Collaborative working

  Share and reuse your state machines in form of libraries, stored as JSON strings in text files.

.. figure:: https://raw.githubusercontent.com/DLR-RM/RAFCON/master/documents/assets/RAFCON-sm-creation-preview.gif
   :figwidth: 100%
   :width: 570px
   :align: left
   :alt: Example on how to create a simple state machine


Installation preparations
-------------------------

Before installing RAFCON, Python >=3.9, pip and setuptools are required on your system. Most of the other dependencies
are automatically resolved by pip/setuptools, but not all of them. Those need be be installed manually, too:

Installation requirements
^^^^^^^^^^^^^^^^^^^^^^^^^

.. code-block:: bash

   sudo apt update
   sudo apt install python3-dev python3-pip python3-setuptools 
   sudo apt install libcairo2-dev pkg-config libgirepository1.0-dev gir1.2-gtk-3.0

   pip install setuptools

General requirements
^^^^^^^^^^^^^^^^^^^^

* Python >=3.9
* pip (recent version required)
* pdm (recent version required)


Installing RAFCON
-----------------

First make sure GTK (PyGObject, needed for the GUI) is installed in the target environment for RAFCON by opening a python environment and checking if importing gi works:

.. code-block:: bash

   import gi

If gi imports successfully, simply install RAFCON with:

.. code-block:: bash

   pip install rafcon --user

If it is not installed, please use the GTK install option:

.. code-block:: bash

   pip install rafcon[gtk] --user

The ``--user`` flag is optional. If not set, RAFCON is installed globally (in this case you normaly need to have root privileges).

If you run into any problems installing and starting RAFCON, **please let us know in the issues**! 

Of course you can also directly use the RAFCON sources from GitHub.

.. code-block:: bash

   cd /install/directory
   git clone https://github.com/DLR-RM/RAFCON.git rafcon


Start RAFCON
------------

No matter which installation option you choose, RAFCON can be started from any location using (make sure
``/usr/local/bin`` or ``~/.local/bin`` is in your ``PATH`` environment variable):

.. code-block:: bash

   rafcon

On a multi-python setup start rafcon using:

.. code-block:: bash

   python<your-version> -m rafcon


Uninstallation
--------------

If you want to uninstall RAFCON, all you need to do is call

.. code-block:: bash

   pip uninstall rafcon
