def transition(self, state, message=""):
        """Change to a new state if the transition is allowed

        Args:
            state (str): State to transition to
            message (str): Message if the transition is to a fault state
        """
        with self.changes_squashed:
            initial_state = self.state.value
            if self.state_set.transition_allowed(
                    initial_state=initial_state, target_state=state):
                self.log.debug(
                    "%s: Transitioning from %s to %s",
                    self.mri, initial_state, state)
                if state == ss.DISABLED:
                    alarm = Alarm.invalid("Disabled")
                elif state == ss.FAULT:
                    alarm = Alarm.major(message)
                else:
                    alarm = Alarm()
                self.update_health(self, HealthInfo(alarm))
                self.state.set_value(state)
                self.state.set_alarm(alarm)
                for child, writeable in self._children_writeable[state].items():
                    if isinstance(child, AttributeModel):
                        child.meta.set_writeable(writeable)
                    elif isinstance(child, MethodModel):
                        child.set_writeable(writeable)
            else:
                raise TypeError("Cannot transition from %s to %s" %
                                (initial_state, state))
Change to a new state if the transition is allowed

        Args:
            state (str): State to transition to
            message (str): Message if the transition is to a fault state