def __init__(self):
smach.StateMachine.__init__(self, outcomes=['succeeded', 'preempted', 'aborted'],
input_keys=[],
output_keys=['pose_current'])
with self:
# Calculate the actual position
smach.StateMachine.add(
'get_actual_pos',
get_current_robot_pose(),
transitions={'succeeded': 'save_robot_position', 'aborted': 'get_actual_pos', 'preempted': 'succeeded'})
# Save position
smach.StateMachine.add(
'save_robot_position',
save_robot_position(),
transitions={'succeeded': 'sleep_state', 'aborted': 'save_robot_position', 'preempted':'preempted'})
# Sleep
smach.StateMachine.add(
'sleep_state',
Sleeper(2),
transitions={'succeeded': 'check_button', 'aborted': 'check_button', 'preempted':'preempted'})
# Check if the button is pressed
smach.StateMachine.add(
'check_button',
emergency_button(),
transitions= {'succeeded':'succeeded', 'aborted':'get_actual_pos', 'preempted':'preempted'})
def __init__(self):
smach.StateMachine.__init__(self, outcomes=['succeeded', 'preempted', 'aborted'],
input_keys=[],
output_keys=[])
with self:
self.userdata.pressed = False
self.userdata.press = False
self.userdata.tts_time_before_speaking = 0
self.userdata.tts_text = ""
self.userdata.tts_lang = ""
# Check if the button is pressed
smach.StateMachine.add(
'check_button',
emergency_button(),
transitions= {'succeeded':'check_button_pressed', 'aborted':'check_button', 'preempted':'preempted'})
smach.StateMachine.add(
'check_button_pressed',
check_button_pressed(),
transitions= {'pressed':'say_pressed_button', 'unpressed':'say_not_pressed_button',
'succeeded':'check_button', 'preempted':'preempted'})
# Say button pressed
smach.StateMachine.add(
'say_pressed_button',
text_to_say("Oh you pressed my emergency button, feel free to check me around"),
transitions= {'succeeded':'check_button', 'aborted':'check_button', 'preempted':'preempted'})
# Say button is not pressed
smach.StateMachine.add(
'say_not_pressed_button',
text_to_say("Thank you for unpressing my emergency button. I'll recover my status shortly."),
transitions= {'succeeded':'succeeded', 'aborted':'succeeded', 'preempted':'preempted'})
def __init__(self):
smach.StateMachine.__init__(self, outcomes=['succeeded', 'preempted', 'aborted', 'end'],
input_keys=[],
output_keys=[])
with self:
self.userdata.pressed = False
self.userdata.press = False
self.userdata.tts_time_before_speaking = 0
self.userdata.tts_text = ""
self.userdata.tts_lang = ""
# Check if the button is pressed
smach.StateMachine.add(
'check_button',
emergency_button(),
transitions= {'succeeded':'check_button_pressed', 'aborted':'check_button', 'preempted':'preempted'})
#Cas 1 - Crec que es perdra tota l'estona si esta premut o no
# transitions= {'succeeded':'check_button_pressed', 'aborted':'aborted', 'preempted':'preempted'})
smach.StateMachine.add(
'check_button_pressed',
check_button_pressed(),
transitions= {'pressed':'say_pressed_button', 'unpressed':'say_not_pressed_button',
'succeeded':'sleep_state', 'preempted':'preempted'})
# Sleep
smach.StateMachine.add(
'sleep_state',
Sleeper(2),
transitions={'succeeded': 'check_button', 'aborted': 'check_button', 'preempted':'preempted'})
# Say button pressed
smach.StateMachine.add(
'say_pressed_button',
text_to_say("Oh you pressed my emergency button, feel free to check me around"),
transitions= {'succeeded':'check_button', 'aborted':'check_button', 'preempted':'preempted'})
# Say button is not pressed
smach.StateMachine.add(
'say_not_pressed_button',
text_to_say("Thank you for unpressing my emergency button. I'll recover my status shortly."),
transitions= {'succeeded':'end', 'aborted':'end', 'preempted':'preempted'})
