def create(self):
# x:683 y:190, x:133 y:290
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.Direction = 'Right'
_state_machine.userdata.Turn_Metric = {'x': 1.5, 'y': 1.5}
_state_machine.userdata.Straight_Metric = 2.0
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:107 y:117
OperatableStateMachine.add('w1',
WaitState(wait_time=1),
transitions={'done': 's1'},
autonomy={'done': Autonomy.Off})
# x:351 y:109
OperatableStateMachine.add('s1',
SubscriberState(topic='/pose',
blocking=True,
clear=False),
transitions={
'received': 'm1',
'unavailable': 'failed'
},
autonomy={
'received': Autonomy.Off,
'unavailable': Autonomy.Off
},
remapping={'message': 'curr_pose'})
# x:337 y:412
OperatableStateMachine.add('w2',
WaitState(wait_time=15),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:331 y:274
OperatableStateMachine.add('m1',
MoveBaseState(),
transitions={
'arrived': 'w2',
'failed': 'failed'
},
autonomy={
'arrived': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'Direction': 'Direction',
'curr_pose': 'curr_pose',
'Turn_Metric': 'Turn_Metric',
'Straight_Metric': 'Straight_Metric'
})
return _state_machine
def create(self):
# x:476 y:530
_state_machine = OperatableStateMachine(outcomes=['finished'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:215 y:156
OperatableStateMachine.add('center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w2'},
autonomy={'done': Autonomy.Off})
# x:394 y:262
OperatableStateMachine.add('right',
SaraSetHeadAngle(pitch=0.1, yaw=-1.5),
transitions={'done': 'w3'},
autonomy={'done': Autonomy.Off})
# x:206 y:372
OperatableStateMachine.add('center2',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w4'},
autonomy={'done': Autonomy.Off})
# x:47 y:153
OperatableStateMachine.add('w1',
WaitState(wait_time=4),
transitions={'done': 'center'},
autonomy={'done': Autonomy.Off})
# x:413 y:159
OperatableStateMachine.add('w2',
WaitState(wait_time=4),
transitions={'done': 'right'},
autonomy={'done': Autonomy.Off})
# x:415 y:370
OperatableStateMachine.add('w3',
WaitState(wait_time=4),
transitions={'done': 'center2'},
autonomy={'done': Autonomy.Off})
# x:39 y:371
OperatableStateMachine.add('w4',
WaitState(wait_time=4),
transitions={'done': 'left'},
autonomy={'done': Autonomy.Off})
# x:29 y:274
OperatableStateMachine.add('left',
SaraSetHeadAngle(pitch=0.1, yaw=1.5),
transitions={'done': 'w1'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:33 y:340, x:133 y:340, x:233 y:340, x:144 y:140
_state_machine = OperatableStateMachine(
outcomes=['L_B', 'M_B', 'H_B', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:107 y:24
OperatableStateMachine.add('w1',
WaitState(wait_time=4),
transitions={'done': 's1'},
autonomy={'done': Autonomy.Off})
# x:351 y:24
OperatableStateMachine.add('s1',
SubscriberState(topic='/FourWD/battery',
blocking=True,
clear=False),
transitions={
'received': 'w2',
'unavailable': 'failed'
},
autonomy={
'received': Autonomy.Off,
'unavailable': Autonomy.Off
},
remapping={'message': 'battery_level'})
# x:357 y:224
OperatableStateMachine.add('w2',
WaitState(wait_time=1),
transitions={'done': 'd1'},
autonomy={'done': Autonomy.Off})
# x:105 y:224
OperatableStateMachine.add(
'd1',
DecisionState(outcomes=['Low', 'Medium', 'High'],
conditions=lambda x: 'Low'
if x.data < 98 else 'Medium'),
transitions={
'Low': 'L_B',
'Medium': 'M_B',
'High': 'H_B'
},
autonomy={
'Low': Autonomy.Off,
'Medium': Autonomy.Off,
'High': Autonomy.Off
},
remapping={'input_value': 'battery_level'})
return _state_machine
def create(self):
# x:30 y:365, x:83 y:290
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:71 y:34
OperatableStateMachine.add('w1',
WaitState(wait_time=1),
transitions={'done': 'battery_check'},
autonomy={'done': Autonomy.Off})
# x:169 y:121
OperatableStateMachine.add('battery_check',
self.use_behavior(battery_checkSM, 'battery_check'),
transitions={'L_B': 'battery_in', 'M_B': 'w1', 'H_B': 'w1', 'failed': 'failed'},
autonomy={'L_B': Autonomy.Inherit, 'M_B': Autonomy.Inherit, 'H_B': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:519 y:271
OperatableStateMachine.add('battery_check_2',
self.use_behavior(battery_checkSM, 'battery_check_2'),
transitions={'L_B': 'w3', 'M_B': 'battery_out', 'H_B': 'battery_out', 'failed': 'failed'},
autonomy={'L_B': Autonomy.Inherit, 'M_B': Autonomy.Inherit, 'H_B': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:557 y:424
OperatableStateMachine.add('w3',
WaitState(wait_time=1),
transitions={'done': 'battery_check_2'},
autonomy={'done': Autonomy.Off})
# x:518 y:138
OperatableStateMachine.add('battery_in',
self.use_behavior(battery_inSM, 'battery_in'),
transitions={'finished': 'battery_check_2', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:251 y:402
OperatableStateMachine.add('battery_out',
self.use_behavior(battery_outSM, 'battery_out'),
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
return _state_machine
def create(self):
# x:83 y:490, x:83 y:290
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.waypoint_charging = {'coordinate':{'x':0.0, 'y':0.0, 'theta':0.0}, 'increment':{'x':'none', 'y':'none', 'theta':'none'}}
_state_machine.userdata.curr_pose = 'none'
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:157 y:74
OperatableStateMachine.add('w1',
WaitState(wait_time=1),
transitions={'done': 'm1'},
autonomy={'done': Autonomy.Off})
# x:481 y:74
OperatableStateMachine.add('m1',
MoveBaseState(),
transitions={'arrived': 's1', 'failed': 'failed'},
autonomy={'arrived': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'waypoint': 'waypoint_charging', 'curr_pose': 'curr_pose'})
# x:501 y:174
OperatableStateMachine.add('s1',
SubscriberState(topic='/FourWD/battery', blocking=True, clear=False),
transitions={'received': 'd1', 'unavailable': 'failed'},
autonomy={'received': Autonomy.Off, 'unavailable': Autonomy.Off},
remapping={'message': 'battery_level'})
# x:505 y:424
OperatableStateMachine.add('d1',
DecisionState(outcomes=['full', 'not_full'], conditions=lambda x: 'full' if x.data>99.9 else 'not_full'),
transitions={'full': 'finished', 'not_full': 'w2'},
autonomy={'full': Autonomy.Off, 'not_full': Autonomy.Off},
remapping={'input_value': 'battery_level'})
# x:357 y:324
OperatableStateMachine.add('w2',
WaitState(wait_time=1),
transitions={'done': 's1'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:658 y:463, x:511 y:525
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:107 y:167
OperatableStateMachine.add('w1',
WaitState(wait_time=1),
transitions={'done': 'turn_decision'},
autonomy={'done': Autonomy.Off})
# x:603 y:148
OperatableStateMachine.add('go_straight',
self.use_behavior(go_straightSM, 'go_straight'),
transitions={'finished': 'w1', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:311 y:265
OperatableStateMachine.add('turn_decision',
self.use_behavior(turn_decisionSM, 'turn_decision'),
transitions={'finished': 'go_straight', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
return _state_machine
def create(self):
log_msg = "Hello World!"
# x:83 y:390
_state_machine = OperatableStateMachine(outcomes=['finished'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:52 y:78
OperatableStateMachine.add(
'Print_Message',
LogState(text=log_msg, severity=Logger.REPORT_HINT),
transitions={'done': 'Wait_After_Logging'},
autonomy={'done': Autonomy.Low})
# x:40 y:228
OperatableStateMachine.add('Wait_After_Logging',
WaitState(wait_time=self.waiting_time),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.waypoint_left = {'coordinate':{'x':'none', 'y':'none', 'theta':'none'}, 'increment':{'x':2.0, 'y':-2.0, 'theta':3.1415/2}}
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:30 y:40
OperatableStateMachine.add('w1',
WaitState(wait_time=1),
transitions={'done': 's1'},
autonomy={'done': Autonomy.Off})
# x:651 y:124
OperatableStateMachine.add('s1',
SubscriberState(topic='/pose', blocking=True, clear=False),
transitions={'received': 'm1', 'unavailable': 'failed'},
autonomy={'received': Autonomy.Off, 'unavailable': Autonomy.Off},
remapping={'message': 'curr_pose'})
# x:181 y:174
OperatableStateMachine.add('m1',
MoveBaseState(),
transitions={'arrived': 'finished', 'failed': 'failed'},
autonomy={'arrived': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'waypoint': 'waypoint_left', 'curr_pose': 'curr_pose'})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:143 y:127
OperatableStateMachine.add('wait',
WaitState(wait_time=self.waiting_time),
transitions={'done': 'initialize'},
autonomy={'done': Autonomy.Low})
# x:280 y:162
OperatableStateMachine.add('initialize',
InitializeRobotState(=1),
transitions={'done': 'finished', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off})
return _state_machine
def create(self):
hello = "hello world"
# x:248 y:340, x:429 y:201
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:182 y:32
OperatableStateMachine.add('Initial_Wait',
WaitState(wait_time=self.waiting_time),
transitions={'done': 'Print_Greeting'},
autonomy={'done': Autonomy.Off})
# x:176 y:186
OperatableStateMachine.add('Print_Greeting',
LogState(text=hello,
severity=Logger.REPORT_HINT),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.High})
return _state_machine
def create(self):
# x:30 y:365, x:458 y:366
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.waypoint1 = [0.7081,-2.5405, 0.0]
_state_machine.userdata.incremental1 = [0.0, 0.0, 0.0]
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:164 y:156
OperatableStateMachine.add('w1',
WaitState(wait_time=3),
transitions={'done': 'go_to_battery_charging_station'},
autonomy={'done': Autonomy.Off})
# x:398 y:156
OperatableStateMachine.add('go_to_battery_charging_station',
self.use_behavior(go_to_battery_charging_stationSM, 'go_to_battery_charging_station'),
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
return _state_machine
def create(self):
hello = "Hello World!"
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:129 y:81
OperatableStateMachine.add('Initial_Wait',
WaitState(wait_time=self.waiting_time),
transitions={'done': 'Hello_Greeting'},
autonomy={'done': Autonomy.Off})
# x:130 y:215
OperatableStateMachine.add('Hello_Greeting',
LogState(text=hello,
severity=Logger.REPORT_HINT),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.High})
return _state_machine
def create(self):
# x:30 y:353, x:130 y:353
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.config = None
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:76 y:87
OperatableStateMachine.add(
'SetHeadNominal',
SetJointState(controller='motion/controller/joint_state_head',
pose_param='head_nominal',
pose_ns='saved_msgs/joint_state',
tolerance=0.017,
timeout=10.0,
joint_topic="joint_states"),
transitions={
'done': 'Wait',
'failed': 'failed',
'timeout': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off,
'timeout': Autonomy.Off
})
# x:244 y:213
OperatableStateMachine.add('Wait',
WaitState(wait_time=20),
transitions={'done': 'RandMoves'},
autonomy={'done': Autonomy.Off})
# x:338 y:62
OperatableStateMachine.add(
'RandMoves',
RandJointsMovements(controller='joint_state_head',
duration=30,
interval=[4.0, 6.0],
joints=['head_joint2', 'head_joint3'],
minimal=[0.1, -0.3],
maximal=[0.7, 0.3]),
transitions={
'done': 'SetHeadNominal',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'config': 'config'})
return _state_machine
def create(self):
# x:541 y:178, x:142 y:179
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['agv_id'])
_state_machine.userdata.agv_id = ''
_state_machine.userdata.inspection_result = ''
_state_machine.userdata.succes = 0
_state_machine.userdata.agv_state = ''
_state_machine.userdata.agv_ready_state = 'ready_to_deliver'
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:354 y:27
OperatableStateMachine.add('AgvState',
GetAgvStatusState(),
transitions={
'continue': 'AGVReady',
'fail': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={
'agv_id': 'agv_id',
'agv_state': 'agv_state'
})
# x:340 y:232
OperatableStateMachine.add('AGVReady',
EqualState(),
transitions={
'true': 'finished',
'false': 'Wait'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'value_a': 'agv_state',
'value_b': 'agv_ready_state'
})
# x:266 y:130
OperatableStateMachine.add('Wait',
WaitState(wait_time=0.2),
transitions={'done': 'AgvState'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:67 y:463, x:336 y:160
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['data'])
_state_machine.userdata.data = 0
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:30 y:40
OperatableStateMachine.add('Wait',
WaitState(wait_time=0.5),
transitions={'done': 'Calculate'},
autonomy={'done': Autonomy.Off})
# x:36 y:240
OperatableStateMachine.add('Log Param',
flexbe_states__LogState(text=self.param,
severity=2),
transitions={'done': 'Verify Input'},
autonomy={'done': Autonomy.Off})
# x:32 y:340
OperatableStateMachine.add('Verify Input',
DecisionState(
outcomes=['accepted', 'rejected'],
conditions=lambda x: 'accepted'
if x > 3 else 'rejected'),
transitions={
'accepted': 'finished',
'rejected': 'failed'
},
autonomy={
'accepted': Autonomy.Off,
'rejected': Autonomy.Off
},
remapping={'input_value': 'data'})
# x:28 y:136
OperatableStateMachine.add(
'Calculate',
CalculationState(calculation=self._calculate),
transitions={'done': 'Log Param'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'data',
'output_value': 'data'
})
return _state_machine
def create(self):
hello = "Hello World"
# x:30 y:365, x:332 y:473
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:131 y:60
OperatableStateMachine.add(
'waiter',
WaitState(wait_time=self.waiting_time),
transitions={'done': 'listen for input'},
autonomy={'done': Autonomy.Off})
# x:633 y:55
OperatableStateMachine.add('printer',
LogState(text=hello,
severity=Logger.REPORT_HINT),
transitions={'done': 'phototaker'},
autonomy={'done': Autonomy.Off})
# x:567 y:320
OperatableStateMachine.add('phototaker',
TakePhotoState(),
transitions={
'continue': 'finished',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:376 y:48
OperatableStateMachine.add('listen for input',
ListeningState(),
transitions={
'continue': 'printer',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
return _state_machine
def create(self):
# x:599 y:55, x:321 y:144
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.agv_id = 'agv1'
_state_machine.userdata.shipment_type = 'order_0_shipment_0'
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:30 y:40
OperatableStateMachine.add(
'StartAssignment',
StartAssignment(),
transitions={'continue': 'SubmitShipment'},
autonomy={'continue': Autonomy.Off})
# x:443 y:42
OperatableStateMachine.add('EndAssignment',
EndAssignment(),
transitions={'continue': 'finished'},
autonomy={'continue': Autonomy.Off})
# x:322 y:42
OperatableStateMachine.add('Wait',
WaitState(wait_time=30),
transitions={'done': 'EndAssignment'},
autonomy={'done': Autonomy.Off})
# x:167 y:42
OperatableStateMachine.add('SubmitShipment',
SubmitShipmentState(),
transitions={
'continue': 'Wait',
'fail': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={
'agv_id': 'agv_id',
'shipment_type': 'shipment_type',
'inspection_result':
'inspection_result'
})
return _state_machine
def create(self):
# x:83 y:390, x:33 y:190
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.Direction = 'Stop'
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:201 y:59
OperatableStateMachine.add('s1',
SubscriberState(topic='/pose',
blocking=True,
clear=False),
transitions={
'received': 'm1',
'unavailable': 'failed'
},
autonomy={
'received': Autonomy.Off,
'unavailable': Autonomy.Off
},
remapping={'message': 'curr_pose'})
# x:207 y:374
OperatableStateMachine.add('w1',
WaitState(wait_time=4),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:181 y:224
OperatableStateMachine.add('m1',
MoveBaseState(),
transitions={
'arrived': 'w1',
'failed': 'failed'
},
autonomy={
'arrived': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'Direction': 'Direction',
'curr_pose': 'curr_pose'
})
return _state_machine
def create(self):
hello = "baka!!"
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.target_joint = [0, 0, 0]
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:30 y:40
OperatableStateMachine.add('Initial_Wait',
WaitState(wait_time=self.waiting_time),
transitions={'done': 'test_moveit'},
autonomy={'done': Autonomy.Off})
# x:27 y:171
OperatableStateMachine.add('Print_Greeting',
LogState(text=hello,
severity=Logger.REPORT_HINT),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.High})
# x:172 y:148
OperatableStateMachine.add(
'test_moveit',
MoveitToJointsState(move_group='Gantry',
joint_names=[
"small_long_joint", "torso_rail_joint",
"torso_base_main_joint"
],
action_topic='/ariac/gantry/move_group'),
transitions={
'reached': 'Print_Greeting',
'planning_failed': 'failed',
'control_failed': 'failed'
},
autonomy={
'reached': Autonomy.Off,
'planning_failed': Autonomy.Off,
'control_failed': Autonomy.Off
},
remapping={'joint_config': 'target_joint'})
return _state_machine
def create(self):
# x:744 y:163, x:229 y:196
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.agv_id = "agv1"
_state_machine.userdata.shipment_type = 'order_0_shepment_0'
_state_machine.userdata.inspection_result = ""
_state_machine.userdata.success = 0
_state_machine.userdata.agv_state = ""
_state_machine.userdata.agv_ready_state = "ready_to_deliver"
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:200 y:39
OperatableStateMachine.add('NotifyShipmentReady',
NotifyShipmentReadyState(),
transitions={'continue': 'Wait', 'fail': 'failed'},
autonomy={'continue': Autonomy.Off, 'fail': Autonomy.Off},
remapping={'agv_id': 'agv_id', 'shipment_type': 'shipment_type', 'success': 'success', 'message': 'message'})
# x:523 y:46
OperatableStateMachine.add('GetAgvState',
GetAgvStatusState(),
transitions={'continue': 'AgvReady', 'fail': 'failed'},
autonomy={'continue': Autonomy.Off, 'fail': Autonomy.Off},
remapping={'agv_id': 'agv_id', 'agv_state': 'agv_state'})
# x:503 y:161
OperatableStateMachine.add('AgvReady',
EqualState(),
transitions={'true': 'finished', 'false': 'Wait'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'value_a': 'agv_state', 'value_b': 'agv_ready_state'})
# x:408 y:42
OperatableStateMachine.add('Wait',
WaitState(wait_time=1),
transitions={'done': 'GetAgvState'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:30 y:40
OperatableStateMachine.add('HSR_Wait',
WaitState(wait_time=3),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:27 y:469, x:242 y:360
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.powerOn = 100
_state_machine.userdata.config_name = ''
_state_machine.userdata.move_group = 'Gantry'
_state_machine.userdata.move_group_prefix = '/ariac/gantry'
_state_machine.userdata.action_topic = '/move_group'
_state_machine.userdata.robot_name = 'gantry'
_state_machine.userdata.part_type = 'gear_part_red'
_state_machine.userdata.joint_values = []
_state_machine.userdata.joint_names = []
_state_machine.userdata.ref_frame = 'world'
_state_machine.userdata.camera_topic = ''
_state_machine.userdata.camera_frame = ''
_state_machine.userdata.tool_link_r = 'right_ee_link'
_state_machine.userdata.pose = ''
_state_machine.userdata.rotation = 0
_state_machine.userdata.move_groupR = 'Right_Arm'
_state_machine.userdata.arm_id_r = 'Right_Arm'
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:230 y:22
OperatableStateMachine.add('move_home_belt',
self.use_behavior(move_home_beltSM, 'move_home_belt'),
transitions={'finished': 'finished', 'failed': 'Waitretry'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:810 y:40
OperatableStateMachine.add('Waitretry',
WaitState(wait_time=2),
transitions={'done': 'move_home_belt'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:733 y:490, x:733 y:140
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:107 y:124
OperatableStateMachine.add('w1',
WaitState(wait_time=3),
transitions={'done': 's1'},
autonomy={'done': Autonomy.Off})
# x:501 y:224
OperatableStateMachine.add('s1',
SubscriberState(
topic='/darknet_ros/bounding_boxes',
blocking=True,
clear=True),
transitions={
'received': 'c1',
'unavailable': 'failed'
},
autonomy={
'received': Autonomy.Off,
'unavailable': Autonomy.Off
},
remapping={'message': 'detection'})
# x:343 y:474
OperatableStateMachine.add('c1',
Carbonara(),
transitions={'done': 'w1'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'detection'})
return _state_machine
def create(self):
# x:472 y:615, x:38 y:355
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.part_type = part_type
_state_machine.userdata.agv_id = agv_id
_state_machine.userdata.pose_on_agv = pose_on_agv
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:427 y:22
OperatableStateMachine.add('standby',
WaitState(wait_time=3),
transitions={'done': 'Get_order'},
autonomy={'done': Autonomy.Off})
# x:399 y:103
OperatableStateMachine.add('Get_order',
GetOrderState(),
transitions={'continue': 'transport_part_form_bin_to_agv_state'},
autonomy={'continue': Autonomy.Off},
remapping={'order_id': 'order_id', 'shipments': 'shipments', 'number_of_shipments': 'number_of_shipments'})
# x:368 y:302
OperatableStateMachine.add('transport_part_form_bin_to_agv_state',
self.use_behavior(transport_part_form_bin_to_agv_stateSM, 'transport_part_form_bin_to_agv_state'),
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'part_type': 'part_type', 'agv_id': 'agv_id', 'pose_on_agv': 'pose_on_agv'})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:30 y:40
OperatableStateMachine.add('Log',
flexbe_states__LogState(text="Test data", severity=2),
transitions={'done': 'Wait'},
autonomy={'done': Autonomy.Off})
# x:30 y:90
OperatableStateMachine.add('Wait',
WaitState(wait_time=1.0),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:894 y:460, x:898 y:340
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=[
'bin_id', 'camera_topic', 'camera_frame', 'part_type',
'PreGraspGantry', 'offset'
])
_state_machine.userdata.bin_id = ''
_state_machine.userdata.home_gantry_id = 'Gantry_Home'
_state_machine.userdata.home_rightarm_id = 'Right_PreGrasp'
_state_machine.userdata.home_leftarm_id = 'Left_PreGrasp'
_state_machine.userdata.move_group_right = 'Right_Arm'
_state_machine.userdata.move_group_prefix = '/ariac/gantry'
_state_machine.userdata.action_topic = '/move_group'
_state_machine.userdata.robot_name = ''
_state_machine.userdata.move_group_left = 'Left_Arm'
_state_machine.userdata.move_group_gantry = 'Gantry'
_state_machine.userdata.ref_frame = 'world'
_state_machine.userdata.camera_topic = ''
_state_machine.userdata.camera_frame = ''
_state_machine.userdata.part_type = ''
_state_machine.userdata.PreGraspGantry = ''
_state_machine.userdata.SafePosition = 'Gantry_ShelfSAFE'
_state_machine.userdata.tool_link = 'left_ee_link'
_state_machine.userdata.rotation = 0
_state_machine.userdata.offset = ''
_state_machine.userdata.arm_id = 'left_arm'
_state_machine.userdata.PreGrasp_RightArm = 'Right_Shelf'
_state_machine.userdata.PreGrasp_LeftArm = 'Left_Shelf'
_state_machine.userdata.SafePositionConveyor = 'Gantry_Shelf_Conveyor'
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:29 y:124
OperatableStateMachine.add('HomepositieRightArm',
SrdfStateToMoveitAriac(),
transitions={
'reached': 'HomepositieLeftArm',
'planning_failed': 'Retry_1',
'control_failed': 'Retry_1',
'param_error': 'failed'
},
autonomy={
'reached': Autonomy.Off,
'planning_failed': Autonomy.Off,
'control_failed': Autonomy.Off,
'param_error': Autonomy.Off
},
remapping={
'config_name': 'home_rightarm_id',
'move_group': 'move_group_right',
'move_group_prefix':
'move_group_prefix',
'action_topic': 'action_topic',
'robot_name': 'robot_name',
'config_name_out':
'config_name_out',
'move_group_out': 'move_group_out',
'robot_name_out': 'robot_name_out',
'action_topic_out':
'action_topic_out',
'joint_values': 'joint_values',
'joint_names': 'joint_names'
})
# x:213 y:119
OperatableStateMachine.add('HomepositieLeftArm',
SrdfStateToMoveitAriac(),
transitions={
'reached': 'DetectPart',
'planning_failed': 'Retry_2',
'control_failed': 'Retry_2',
'param_error': 'failed'
},
autonomy={
'reached': Autonomy.Off,
'planning_failed': Autonomy.Off,
'control_failed': Autonomy.Off,
'param_error': Autonomy.Off
},
remapping={
'config_name': 'home_leftarm_id',
'move_group': 'move_group_left',
'move_group_prefix':
'move_group_prefix',
'action_topic': 'action_topic',
'robot_name': 'robot_name',
'config_name_out':
'config_name_out',
'move_group_out': 'move_group_out',
'robot_name_out': 'robot_name_out',
'action_topic_out':
'action_topic_out',
'joint_values': 'joint_values',
'joint_names': 'joint_names'
})
# x:46 y:34
OperatableStateMachine.add(
'Retry_1',
WaitState(wait_time=3),
transitions={'done': 'HomepositieRightArm'},
autonomy={'done': Autonomy.Off})
# x:230 y:33
OperatableStateMachine.add(
'Retry_2',
WaitState(wait_time=3),
transitions={'done': 'HomepositieLeftArm'},
autonomy={'done': Autonomy.Off})
# x:392 y:114
OperatableStateMachine.add(
'DetectPart',
DetectPartCameraAriacState(time_out=0.5),
transitions={
'continue': 'SafePosition_Conveyor',
'failed': 'failed',
'not_found': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off,
'not_found': Autonomy.Off
},
remapping={
'ref_frame': 'ref_frame',
'camera_topic': 'camera_topic',
'camera_frame': 'camera_frame',
'part': 'part_type',
'pose': 'part_pose'
})
# x:1279 y:116
OperatableStateMachine.add('PreGraspGantry',
SrdfStateToMoveitAriac(),
transitions={
'reached': 'ComputePick',
'planning_failed': 'Retry_6',
'control_failed': 'Retry_6',
'param_error': 'failed'
},
autonomy={
'reached': Autonomy.Off,
'planning_failed': Autonomy.Off,
'control_failed': Autonomy.Off,
'param_error': Autonomy.Off
},
remapping={
'config_name': 'PreGraspGantry',
'move_group': 'move_group_gantry',
'move_group_prefix':
'move_group_prefix',
'action_topic': 'action_topic',
'robot_name': 'robot_name',
'config_name_out':
'config_name_out',
'move_group_out': 'move_group_out',
'robot_name_out': 'robot_name_out',
'action_topic_out':
'action_topic_out',
'joint_values': 'joint_values',
'joint_names': 'joint_names'
})
# x:1304 y:30
OperatableStateMachine.add('Retry_6',
WaitState(wait_time=3),
transitions={'done': 'PreGraspGantry'},
autonomy={'done': Autonomy.Off})
# x:736 y:114
OperatableStateMachine.add('SafePosition',
SrdfStateToMoveitAriac(),
transitions={
'reached': 'PreGrasp_RightArm',
'planning_failed': 'Retry_3',
'control_failed': 'Retry_3',
'param_error': 'failed'
},
autonomy={
'reached': Autonomy.Off,
'planning_failed': Autonomy.Off,
'control_failed': Autonomy.Off,
'param_error': Autonomy.Off
},
remapping={
'config_name': 'SafePosition',
'move_group': 'move_group_gantry',
'move_group_prefix':
'move_group_prefix',
'action_topic': 'action_topic',
'robot_name': 'robot_name',
'config_name_out':
'config_name_out',
'move_group_out': 'move_group_out',
'robot_name_out': 'robot_name_out',
'action_topic_out':
'action_topic_out',
'joint_values': 'joint_values',
'joint_names': 'joint_names'
})
# x:763 y:21
OperatableStateMachine.add('Retry_3',
WaitState(wait_time=3),
transitions={'done': 'SafePosition'},
autonomy={'done': Autonomy.Off})
# x:1463 y:117
OperatableStateMachine.add(
'ComputePick',
ComputeGraspAriacState(joint_names=[
'left_shoulder_pan_joint', 'left_shoulder_lift_joint',
'left_elbow_joint', 'left_wrist_1_joint',
'left_wrist_2_joint', 'left_wrist_3_joint'
]),
transitions={
'continue': 'MoveToPick',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'move_group': 'move_group_left',
'move_group_prefix': 'move_group_prefix',
'tool_link': 'tool_link',
'pose': 'part_pose',
'offset': 'offset',
'rotation': 'rotation',
'joint_values': 'joint_values',
'joint_names': 'joint_names'
})
# x:1645 y:117
OperatableStateMachine.add('MoveToPick',
MoveitToJointsDynAriacState(),
transitions={
'reached': 'GripperOn',
'planning_failed': 'Retry_7',
'control_failed': 'GripperOn'
},
autonomy={
'reached': Autonomy.Off,
'planning_failed': Autonomy.Off,
'control_failed': Autonomy.Off
},
remapping={
'move_group_prefix':
'move_group_prefix',
'move_group': 'move_group_left',
'action_topic': 'action_topic',
'joint_values': 'joint_values',
'joint_names': 'joint_names'
})
# x:1679 y:35
OperatableStateMachine.add('Retry_7',
WaitState(wait_time=3),
transitions={'done': 'MoveToPick'},
autonomy={'done': Autonomy.Off})
# x:1465 y:242
OperatableStateMachine.add('GripperOn',
VacuumGripperControlState(enable=True),
transitions={
'continue': 'PreGraspLeftArm',
'failed': 'ComputePick',
'invalid_arm_id': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off,
'invalid_arm_id': Autonomy.Off
},
remapping={'arm_id': 'arm_id'})
# x:1480 y:333
OperatableStateMachine.add('PreGraspLeftArm',
SrdfStateToMoveitAriac(),
transitions={
'reached': 'SafePosition_2',
'planning_failed': 'Retry_8',
'control_failed': 'Retry_8',
'param_error': 'failed'
},
autonomy={
'reached': Autonomy.Off,
'planning_failed': Autonomy.Off,
'control_failed': Autonomy.Off,
'param_error': Autonomy.Off
},
remapping={
'config_name': 'PreGrasp_LeftArm',
'move_group': 'move_group_left',
'move_group_prefix':
'move_group_prefix',
'action_topic': 'action_topic',
'robot_name': 'robot_name',
'config_name_out':
'config_name_out',
'move_group_out': 'move_group_out',
'robot_name_out': 'robot_name_out',
'action_topic_out':
'action_topic_out',
'joint_values': 'joint_values',
'joint_names': 'joint_names'
})
# x:1697 y:328
OperatableStateMachine.add('Retry_8',
WaitState(wait_time=3),
transitions={'done': 'PreGraspLeftArm'},
autonomy={'done': Autonomy.Off})
# x:1479 y:426
OperatableStateMachine.add('SafePosition_2',
SrdfStateToMoveitAriac(),
transitions={
'reached':
'SafePosition_Conveyor_2',
'planning_failed': 'Retry_9',
'control_failed': 'Retry_9',
'param_error': 'failed'
},
autonomy={
'reached': Autonomy.Off,
'planning_failed': Autonomy.Off,
'control_failed': Autonomy.Off,
'param_error': Autonomy.Off
},
remapping={
'config_name': 'SafePosition',
'move_group': 'move_group_gantry',
'move_group_prefix':
'move_group_prefix',
'action_topic': 'action_topic',
'robot_name': 'robot_name',
'config_name_out':
'config_name_out',
'move_group_out': 'move_group_out',
'robot_name_out': 'robot_name_out',
'action_topic_out':
'action_topic_out',
'joint_values': 'joint_values',
'joint_names': 'joint_names'
})
# x:1700 y:427
OperatableStateMachine.add('Retry_9',
WaitState(wait_time=3),
transitions={'done': 'SafePosition_2'},
autonomy={'done': Autonomy.Off})
# x:924 y:115
OperatableStateMachine.add('PreGrasp_RightArm',
SrdfStateToMoveitAriac(),
transitions={
'reached': 'PreGrasp_LeftArm',
'planning_failed': 'Retry_4',
'control_failed': 'Retry_4',
'param_error': 'failed'
},
autonomy={
'reached': Autonomy.Off,
'planning_failed': Autonomy.Off,
'control_failed': Autonomy.Off,
'param_error': Autonomy.Off
},
remapping={
'config_name': 'PreGrasp_RightArm',
'move_group': 'move_group_right',
'move_group_prefix':
'move_group_prefix',
'action_topic': 'action_topic',
'robot_name': 'robot_name',
'config_name_out':
'config_name_out',
'move_group_out': 'move_group_out',
'robot_name_out': 'robot_name_out',
'action_topic_out':
'action_topic_out',
'joint_values': 'joint_values',
'joint_names': 'joint_names'
})
# x:1103 y:113
OperatableStateMachine.add('PreGrasp_LeftArm',
SrdfStateToMoveitAriac(),
transitions={
'reached': 'PreGraspGantry',
'planning_failed': 'Retry_5',
'control_failed': 'Retry_5',
'param_error': 'failed'
},
autonomy={
'reached': Autonomy.Off,
'planning_failed': Autonomy.Off,
'control_failed': Autonomy.Off,
'param_error': Autonomy.Off
},
remapping={
'config_name': 'PreGrasp_LeftArm',
'move_group': 'move_group_left',
'move_group_prefix':
'move_group_prefix',
'action_topic': 'action_topic',
'robot_name': 'robot_name',
'config_name_out':
'config_name_out',
'move_group_out': 'move_group_out',
'robot_name_out': 'robot_name_out',
'action_topic_out':
'action_topic_out',
'joint_values': 'joint_values',
'joint_names': 'joint_names'
})
# x:948 y:23
OperatableStateMachine.add(
'Retry_4',
WaitState(wait_time=3),
transitions={'done': 'PreGrasp_RightArm'},
autonomy={'done': Autonomy.Off})
# x:1126 y:21
OperatableStateMachine.add(
'Retry_5',
WaitState(wait_time=3),
transitions={'done': 'PreGrasp_LeftArm'},
autonomy={'done': Autonomy.Off})
# x:1479 y:517
OperatableStateMachine.add('SafePosition_Conveyor_2',
SrdfStateToMoveitAriac(),
transitions={
'reached': 'finished',
'planning_failed': 'Retry_10',
'control_failed': 'Retry_10',
'param_error': 'failed'
},
autonomy={
'reached': Autonomy.Off,
'planning_failed': Autonomy.Off,
'control_failed': Autonomy.Off,
'param_error': Autonomy.Off
},
remapping={
'config_name':
'SafePositionConveyor',
'move_group': 'move_group_gantry',
'move_group_prefix':
'move_group_prefix',
'action_topic': 'action_topic',
'robot_name': 'robot_name',
'config_name_out':
'config_name_out',
'move_group_out': 'move_group_out',
'robot_name_out': 'robot_name_out',
'action_topic_out':
'action_topic_out',
'joint_values': 'joint_values',
'joint_names': 'joint_names'
})
# x:1700 y:541
OperatableStateMachine.add(
'Retry_10',
WaitState(wait_time=3),
transitions={'done': 'SafePosition_Conveyor_2'},
autonomy={'done': Autonomy.Off})
# x:576 y:110
OperatableStateMachine.add('SafePosition_Conveyor',
SrdfStateToMoveitAriac(),
transitions={
'reached': 'SafePosition',
'planning_failed': 'Retry_3_2',
'control_failed': 'Retry_3_2',
'param_error': 'failed'
},
autonomy={
'reached': Autonomy.Off,
'planning_failed': Autonomy.Off,
'control_failed': Autonomy.Off,
'param_error': Autonomy.Off
},
remapping={
'config_name':
'SafePositionConveyor',
'move_group': 'move_group_gantry',
'move_group_prefix':
'move_group_prefix',
'action_topic': 'action_topic',
'robot_name': 'robot_name',
'config_name_out':
'config_name_out',
'move_group_out': 'move_group_out',
'robot_name_out': 'robot_name_out',
'action_topic_out':
'action_topic_out',
'joint_values': 'joint_values',
'joint_names': 'joint_names'
})
# x:588 y:23
OperatableStateMachine.add(
'Retry_3_2',
WaitState(wait_time=3),
transitions={'done': 'SafePosition_Conveyor'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:1474 y:331, x:56 y:575
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.half_turn = 3.1416
_state_machine.userdata.person = "person"
_state_machine.userdata.operator_param = "behavior/Operaror/Id"
_state_machine.userdata.join = ["Move", "spr/initialpose"]
_state_machine.userdata.leave = ["Move", "door2/exit"]
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:1182 y:163
_sm_rotate_0 = OperatableStateMachine(outcomes=['finished'])
with _sm_rotate_0:
# x:103 y:61
OperatableStateMachine.add('Look Left',
SaraSetHeadAngle(pitch=-0.35, yaw=0.5),
transitions={'done': 'Rotate Left'},
autonomy={'done': Autonomy.Off})
# x:794 y:54
OperatableStateMachine.add('Look Right',
SaraSetHeadAngle(pitch=-0.35, yaw=-0.5),
transitions={'done': 'Rotate Right'},
autonomy={'done': Autonomy.Off})
# x:325 y:61
OperatableStateMachine.add('Rotate Left',
WaitState(wait_time=8),
transitions={'done': 'Look Center'},
autonomy={'done': Autonomy.Off})
# x:961 y:65
OperatableStateMachine.add('Rotate Right',
WaitState(wait_time=4),
transitions={'done': 'Look Center 2'},
autonomy={'done': Autonomy.Off})
# x:1115 y:62
OperatableStateMachine.add('Look Center 2',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:484 y:54
OperatableStateMachine.add('Look Center',
SaraSetHeadAngle(pitch=-0.35, yaw=0),
transitions={'done': 'Rotate Center'},
autonomy={'done': Autonomy.Off})
# x:657 y:49
OperatableStateMachine.add('Rotate Center',
WaitState(wait_time=4),
transitions={'done': 'Look Right'},
autonomy={'done': Autonomy.Off})
# x:30 y:458
_sm_follow_head_1 = OperatableStateMachine(outcomes=['end'],
input_keys=['person'])
with _sm_follow_head_1:
# x:214 y:48
OperatableStateMachine.add('list all entities',
list_entities_by_name(
frontality_level=0.5,
distance_max=10),
transitions={
'found': 'Get Nearest',
'none_found': 'list all entities'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'person',
'entity_list': 'entity_list',
'number': 'number'
})
# x:456 y:51
OperatableStateMachine.add(
'Get Nearest',
CalculationState(calculation=lambda x: x[0].ID),
transitions={'done': 'look'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entity_list',
'output_value': 'ID'
})
# x:291 y:177
OperatableStateMachine.add(
'look',
KeepLookingAt(),
transitions={'failed': 'list all entities'},
autonomy={'failed': Autonomy.Off},
remapping={'ID': 'ID'})
# x:12 y:125, x:1130 y:515
_sm_nlu_2 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_nlu_2:
# x:156 y:37
OperatableStateMachine.add(
'say ask',
SaraSay(sentence="You can ask me your questions.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'Loop Questions'},
autonomy={'done': Autonomy.Off})
# x:1091 y:84
OperatableStateMachine.add('Listen',
GetSpeech(watchdog=10),
transitions={
'done': 'Engine',
'nothing': 'Listen',
'fail': 'Listen'
},
autonomy={
'done': Autonomy.Off,
'nothing': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={'words': 'sentence'})
# x:1324 y:110
OperatableStateMachine.add('Engine',
SaraNLUspr(),
transitions={
'understood': 'Say_Answer',
'not_understood': 'Listen',
'fail': 'Listen'
},
autonomy={
'understood': Autonomy.Off,
'not_understood': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={
'sentence': 'sentence',
'answer': 'answer'
})
# x:632 y:77
OperatableStateMachine.add(
'Select Story',
CalculationState(calculation=lambda x: x + 6),
transitions={'done': 'Set_a_step'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'index',
'output_value': 'story'
})
# x:874 y:78
OperatableStateMachine.add('Set_a_step',
Set_a_step(step=1),
transitions={'done': 'Listen'},
autonomy={'done': Autonomy.Off})
# x:398 y:81
OperatableStateMachine.add('Loop Questions',
ForLoop(repeat=5),
transitions={
'do': 'Select Story',
'end': 'loop step'
},
autonomy={
'do': Autonomy.Off,
'end': Autonomy.Off
},
remapping={'index': 'index'})
# x:439 y:252
OperatableStateMachine.add(
'Say Blind Game',
SaraSay(sentence="Let's play the blind game !",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'Loop Questions'},
autonomy={'done': Autonomy.Off})
# x:189 y:193
OperatableStateMachine.add('loop step',
ForLoop(repeat=1),
transitions={
'do': 'Say Blind Game',
'end': 'finished'
},
autonomy={
'do': Autonomy.Off,
'end': Autonomy.Off
},
remapping={'index': 'index'})
# x:721 y:205
OperatableStateMachine.add('Say_Answer',
SaraSay(sentence=lambda x: str(x),
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'Loop Questions'},
autonomy={'done': Autonomy.Off})
# x:817 y:123, x:130 y:458
_sm_analyse_crowd_3 = OperatableStateMachine(
outcomes=['finished', 'error'])
with _sm_analyse_crowd_3:
# x:87 y:97
OperatableStateMachine.add('clear database',
WonderlandClearPeoples(),
transitions={
'done': 'Rotate',
'error': 'error'
},
autonomy={
'done': Autonomy.Off,
'error': Autonomy.Off
})
# x:531 y:112
OperatableStateMachine.add('Add Update Persons',
WonderlandAddUpdatePeople(),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:311 y:97
OperatableStateMachine.add(
'Rotate',
_sm_rotate_0,
transitions={'finished': 'Add Update Persons'},
autonomy={'finished': Autonomy.Inherit})
# x:1203 y:11, x:1006 y:366
_sm_init_scenario_4 = OperatableStateMachine(
outcomes=['done', 'error'])
with _sm_init_scenario_4:
# x:30 y:42
OperatableStateMachine.add(
'Generate Vizbox Story',
Set_Story(titre="Speech and Person Recognition",
storyline=[
"Waiting Begining", "Join Game Room",
"Waiting Crowd Placement", "Analysing Crowd",
"Begin Game", "Find Operator", "Question 1",
"Question 2", "Question 3", "Question 4",
"Question 5", "Leave Arena"
]),
transitions={'done': 'Set Story Step'},
autonomy={'done': Autonomy.Off})
# x:559 y:44
OperatableStateMachine.add('WaitForBegining',
ContinueButton(),
transitions={
'true': 'Reset Persons',
'false': 'Reset Persons'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
})
# x:807 y:61
OperatableStateMachine.add('Reset Persons',
WonderlandClearPeoples(),
transitions={
'done': 'done',
'error': 'error'
},
autonomy={
'done': Autonomy.Off,
'error': Autonomy.Off
})
# x:247 y:49
OperatableStateMachine.add('Set Story Step',
Set_a_step(step=0),
transitions={'done': 'setIDLE'},
autonomy={'done': Autonomy.Off})
# x:388 y:208
OperatableStateMachine.add('Reset Arm',
MoveitMove(move=True,
waitForExecution=True,
group="RightArm"),
transitions={
'done': 'Reset Persons',
'failed': 'error'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'target': 'target'})
# x:427 y:40
OperatableStateMachine.add('setIDLE',
SetKey(Value="IdlePose"),
transitions={'done': 'Reset Arm'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'target'})
# x:30 y:458, x:230 y:458
_sm_join_area_5 = OperatableStateMachine(
outcomes=['failed', 'finished'], input_keys=['join'])
with _sm_join_area_5:
# x:95 y:40
OperatableStateMachine.add(
'Say Join Area',
SaraSay(sentence="I will join the playing room !",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'Join Arena'},
autonomy={'done': Autonomy.Off})
# x:92 y:134
OperatableStateMachine.add(
'Join Arena',
self.use_behavior(sara_flexbe_behaviors__ActionWrapper_MoveSM,
'Join Area/Join Arena'),
transitions={
'finished': 'finished',
'failed': 'failed',
'critical_fail': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit,
'critical_fail': Autonomy.Inherit
},
remapping={'Action': 'join'})
# x:489 y:56, x:604 y:278
_sm_waiting_and_turn_6 = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['half_turn'])
with _sm_waiting_and_turn_6:
# x:50 y:51
OperatableStateMachine.add(
'Want Play',
SaraSay(sentence="Hum, I want to play riddles !",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'Wait 10s'},
autonomy={'done': Autonomy.Off})
# x:272 y:121
OperatableStateMachine.add(
'action_turn',
self.use_behavior(sara_flexbe_behaviors__action_turnSM,
'Waiting And Turn/action_turn'),
transitions={
'finished': 'finished',
'failed': 'Cant turn'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'rotation': 'half_turn'})
# x:437 y:240
OperatableStateMachine.add('Cant turn',
SaraSay(sentence="I can't turn !",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:63 y:178
OperatableStateMachine.add(
'Wait 10s',
WaitState(wait_time=10),
transitions={'done': 'Look In Front Of'},
autonomy={'done': Autonomy.Off})
# x:61 y:260
OperatableStateMachine.add('Look In Front Of',
SaraSetHeadAngle(pitch=0, yaw=0),
transitions={'done': 'action_turn'},
autonomy={'done': Autonomy.Off})
# x:472 y:69, x:476 y:113, x:470 y:196, x:330 y:458, x:430 y:458
_sm_questions_7 = ConcurrencyContainer(
outcomes=['finished', 'failed'],
input_keys=['person'],
conditions=[('finished', [('NLU', 'finished')]),
('failed', [('NLU', 'failed')]),
('finished', [('Follow Head', 'end')])])
with _sm_questions_7:
# x:85 y:58
OperatableStateMachine.add('NLU',
_sm_nlu_2,
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:84 y:185
OperatableStateMachine.add('Follow Head',
_sm_follow_head_1,
transitions={'end': 'finished'},
autonomy={'end': Autonomy.Inherit},
remapping={'person': 'person'})
# x:283 y:294, x:60 y:571
_sm_find_operator_8 = OperatableStateMachine(
outcomes=['not_found', 'done'],
input_keys=['person', 'operator_param'])
with _sm_find_operator_8:
# x:51 y:40
OperatableStateMachine.add(
'Ask Player',
SaraSay(sentence="Who wan't to play with me ?",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'Wait Operator'},
autonomy={'done': Autonomy.Off})
# x:39 y:297
OperatableStateMachine.add(
'Get operator id',
CalculationState(calculation=lambda x: x.entities[0].face.id),
transitions={'done': 'Set Operator Id'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entity_list',
'output_value': 'operator'
})
# x:33 y:384
OperatableStateMachine.add('Set Operator Id',
SetRosParamKey(),
transitions={'done': 'Operator Id'},
autonomy={'done': Autonomy.Off},
remapping={
'Value': 'operator_param',
'ParamName': 'operator'
})
# x:46 y:117
OperatableStateMachine.add('Wait Operator',
WaitState(wait_time=6),
transitions={'done': 'Find Operator'},
autonomy={'done': Autonomy.Off})
# x:35 y:495
OperatableStateMachine.add('Operator Id',
LogKeyState(
text="Operator find. Id: {}",
severity=Logger.REPORT_HINT),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off},
remapping={'data': 'operator'})
# x:30 y:205
OperatableStateMachine.add('Find Operator',
list_entities_by_name(
frontality_level=0.5,
distance_max=10),
transitions={
'found': 'Get operator id',
'none_found': 'Find Operator'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'person',
'entity_list': 'entity_list',
'number': 'number'
})
# x:703 y:198, x:88 y:199
_sm_tell_basic_stats_9 = OperatableStateMachine(
outcomes=['finished', 'failed'])
with _sm_tell_basic_stats_9:
# x:50 y:40
OperatableStateMachine.add('wait',
WaitState(wait_time=0),
transitions={'done': 'GetPeopleStats'},
autonomy={'done': Autonomy.Off})
# x:218 y:43
OperatableStateMachine.add('GetPeopleStats',
WonderlandGetPersonStat(),
transitions={
'done': 'GenerateSentence',
'none': 'Nobody',
'error': 'failed'
},
autonomy={
'done': Autonomy.Off,
'none': Autonomy.Off,
'error': Autonomy.Off
},
remapping={
'women': 'women',
'men': 'men',
'others': 'others'
})
# x:466 y:46
OperatableStateMachine.add('Nobody',
SaraSay(
sentence="There is nobody here !",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:162 y:243
OperatableStateMachine.add(
'GenerateSentence',
FlexibleCalculationState(calculation=lambda x: "There is " +
str(x[0] + x[1] + x[2]) + " persons.",
input_keys=['men', 'women',
'others']),
transitions={'done': 'Tell_Stats'},
autonomy={'done': Autonomy.Off},
remapping={
'men': 'men',
'women': 'women',
'others': 'others',
'output_value': 'sentence'
})
# x:151 y:345
OperatableStateMachine.add(
'Generate Sentence 2',
FlexibleCalculationState(
calculation=lambda x: "I recognize " + str(x[
1]) + " women and " + str(x[0]) + " men.",
input_keys=['men', 'women', 'others']),
transitions={'done': 'Tell_Stats 2'},
autonomy={'done': Autonomy.Off},
remapping={
'men': 'men',
'women': 'women',
'others': 'others',
'output_value': 'sentence'
})
# x:380 y:172
OperatableStateMachine.add(
'Tell_Stats',
SaraSay(sentence=lambda x: x,
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'Generate Sentence 2'},
autonomy={'done': Autonomy.Off})
# x:409 y:276
OperatableStateMachine.add('Tell_Stats 2',
SaraSay(sentence=lambda x: x,
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
with _state_machine:
# x:30 y:40
OperatableStateMachine.add('continue',
ContinueButton(),
transitions={
'true': 'Init Scenario',
'false': 'Init Scenario'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
})
# x:715 y:127
OperatableStateMachine.add('Tell basic stats',
_sm_tell_basic_stats_9,
transitions={
'finished': 'Set Find Operator',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:899 y:126
OperatableStateMachine.add('Find Operator',
_sm_find_operator_8,
transitions={
'not_found': 'Find Operator',
'done': 'Questions'
},
autonomy={
'not_found': Autonomy.Inherit,
'done': Autonomy.Inherit
},
remapping={
'person': 'person',
'operator_param': 'operator_param'
})
# x:1120 y:126
OperatableStateMachine.add('Questions',
_sm_questions_7,
transitions={
'finished': 'set head',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'person': 'person'})
# x:343 y:49
OperatableStateMachine.add(
'Set Story Waiting',
Set_a_step(step=2),
transitions={'done': 'Waiting And Turn'},
autonomy={'done': Autonomy.Off})
# x:532 y:48
OperatableStateMachine.add('Set Analyse',
Set_a_step(step=3),
transitions={'done': 'Analyse Crowd'},
autonomy={'done': Autonomy.Off})
# x:696 y:47
OperatableStateMachine.add(
'Set Begin Game',
Set_a_step(step=4),
transitions={'done': 'Tell basic stats'},
autonomy={'done': Autonomy.Off})
# x:899 y:49
OperatableStateMachine.add('Set Find Operator',
Set_a_step(step=5),
transitions={'done': 'Find Operator'},
autonomy={'done': Autonomy.Off})
# x:332 y:127
OperatableStateMachine.add('Waiting And Turn',
_sm_waiting_and_turn_6,
transitions={
'finished': 'Set Analyse',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'half_turn': 'half_turn'})
# x:1333 y:232
OperatableStateMachine.add('Set Go Out',
Set_a_step(step=11),
transitions={'done': 'Say And Of Game'},
autonomy={'done': Autonomy.Off})
# x:1517 y:148
OperatableStateMachine.add(
'Leave Arena',
self.use_behavior(sara_flexbe_behaviors__ActionWrapper_MoveSM,
'Leave Arena'),
transitions={
'finished': 'finished',
'failed': 'finished',
'critical_fail': 'finished'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit,
'critical_fail': Autonomy.Inherit
},
remapping={'Action': 'leave'})
# x:176 y:42
OperatableStateMachine.add(
'Set Join',
Set_a_step(step=1),
transitions={'done': 'Set Story Waiting'},
autonomy={'done': Autonomy.Off})
# x:177 y:120
OperatableStateMachine.add('Join Area',
_sm_join_area_5,
transitions={
'failed': 'failed',
'finished': 'Set Story Waiting'
},
autonomy={
'failed': Autonomy.Inherit,
'finished': Autonomy.Inherit
},
remapping={'join': 'join'})
# x:1302 y:140
OperatableStateMachine.add(
'Say And Of Game',
SaraSay(
sentence=
"The game is finished. I will leave the arena. Thank you for playing with me.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'Leave Arena'},
autonomy={'done': Autonomy.Off})
# x:1120 y:237
OperatableStateMachine.add('set head',
SaraSetHeadAngle(pitch=-0.2, yaw=0),
transitions={'done': 'Set Go Out'},
autonomy={'done': Autonomy.Off})
# x:34 y:130
OperatableStateMachine.add('Init Scenario',
_sm_init_scenario_4,
transitions={
'done': 'Set Join',
'error': 'failed'
},
autonomy={
'done': Autonomy.Inherit,
'error': Autonomy.Inherit
})
# x:517 y:124
OperatableStateMachine.add('Analyse Crowd',
_sm_analyse_crowd_3,
transitions={
'finished': 'Set Begin Game',
'error': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'error': Autonomy.Inherit
})
return _state_machine
def create(self):
# x:93 y:313, x:514 y:143
_state_machine = OperatableStateMachine(outcomes=['found', 'not_found'], input_keys=['className', 'personID'], output_keys=['personEntity'])
_state_machine.userdata.className = "person"
_state_machine.userdata.personID = 0
_state_machine.userdata.personEntity = ""
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:707 y:760
_sm_rotation_0 = OperatableStateMachine(outcomes=['end'], output_keys=['personEntity'])
with _sm_rotation_0:
# x:51 y:38
OperatableStateMachine.add('Set 180 degres',
SetKey(Value=3.1416),
transitions={'done': 'set cpt to 0'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'rotation'})
# x:613 y:470
OperatableStateMachine.add('action_turn',
self.use_behavior(sara_flexbe_behaviors__action_turnSM, 'Container/Rotation/action_turn'),
transitions={'finished': 'check is cpt is 1', 'failed': 'check is cpt is 1'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'rotation': 'rotation'})
# x:421 y:54
OperatableStateMachine.add('Look Right',
SaraSetHeadAngle(pitch=0.1, yaw=-1.5),
transitions={'done': 'w2'},
autonomy={'done': Autonomy.Off})
# x:265 y:56
OperatableStateMachine.add('w1',
WaitState(wait_time=4),
transitions={'done': 'Look Right'},
autonomy={'done': Autonomy.Off})
# x:630 y:56
OperatableStateMachine.add('w2',
WaitState(wait_time=4),
transitions={'done': 'center'},
autonomy={'done': Autonomy.Off})
# x:250 y:177
OperatableStateMachine.add('Look Center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w1'},
autonomy={'done': Autonomy.Off})
# x:618 y:304
OperatableStateMachine.add('Look Left 2',
SaraSetHeadAngle(pitch=0.1, yaw=1.5),
transitions={'done': 'w4'},
autonomy={'done': Autonomy.Off})
# x:612 y:138
OperatableStateMachine.add('center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w3'},
autonomy={'done': Autonomy.Off})
# x:635 y:214
OperatableStateMachine.add('w3',
WaitState(wait_time=4),
transitions={'done': 'Look Left 2'},
autonomy={'done': Autonomy.Off})
# x:636 y:394
OperatableStateMachine.add('w4',
WaitState(wait_time=4),
transitions={'done': 'action_turn'},
autonomy={'done': Autonomy.Off})
# x:59 y:128
OperatableStateMachine.add('set cpt to 0',
SetKey(Value=0),
transitions={'done': 'Look Center'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'cpt'})
# x:400 y:499
OperatableStateMachine.add('check is cpt is 1',
CheckConditionState(predicate=lambda x: x==1),
transitions={'true': 'set entity to unknown', 'false': 'set cpt to 1'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'input_value': 'cpt'})
# x:414 y:210
OperatableStateMachine.add('set cpt to 1',
SetKey(Value=1),
transitions={'done': 'Look Right'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'cpt'})
# x:605 y:659
OperatableStateMachine.add('set entity to unknown',
SetKey(Value="unknown"),
transitions={'done': 'end'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'personEntity'})
# x:683 y:188
_sm_find_entity_1 = OperatableStateMachine(outcomes=['found'], input_keys=['personID'], output_keys=['personEntity'])
with _sm_find_entity_1:
# x:226 y:188
OperatableStateMachine.add('get person',
GetEntityByID(),
transitions={'found': 'found', 'not_found': 'WaitState'},
autonomy={'found': Autonomy.Off, 'not_found': Autonomy.Off},
remapping={'ID': 'personID', 'Entity': 'personEntity'})
# x:194 y:40
OperatableStateMachine.add('WaitState',
WaitState(wait_time=1),
transitions={'done': 'get person'},
autonomy={'done': Autonomy.Off})
# x:372 y:27, x:392 y:217, x:400 y:139, x:330 y:458
_sm_container_2 = ConcurrencyContainer(outcomes=['found', 'not_found'], input_keys=['className', 'personID'], output_keys=['personEntity'], conditions=[
('not_found', [('Rotation', 'end')]),
('found', [('Find Entity', 'found')])
])
with _sm_container_2:
# x:131 y:44
OperatableStateMachine.add('Find Entity',
_sm_find_entity_1,
transitions={'found': 'found'},
autonomy={'found': Autonomy.Inherit},
remapping={'personID': 'personID', 'personEntity': 'personEntity'})
# x:135 y:199
OperatableStateMachine.add('Rotation',
_sm_rotation_0,
transitions={'end': 'not_found'},
autonomy={'end': Autonomy.Inherit},
remapping={'personEntity': 'personEntity'})
with _state_machine:
# x:67 y:42
OperatableStateMachine.add('Look Center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'Container'},
autonomy={'done': Autonomy.Off})
# x:278 y:138
OperatableStateMachine.add('Look Center Not Found',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'not_found'},
autonomy={'done': Autonomy.Off})
# x:63 y:126
OperatableStateMachine.add('Container',
_sm_container_2,
transitions={'found': 'WaitState', 'not_found': 'Look Center Not Found'},
autonomy={'found': Autonomy.Inherit, 'not_found': Autonomy.Inherit},
remapping={'className': 'className', 'personID': 'personID', 'personEntity': 'personEntity'})
# x:67 y:222
OperatableStateMachine.add('WaitState',
WaitState(wait_time=1),
transitions={'done': 'found'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:712 y:612, x:820 y:97
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.name = "person"
_state_machine.userdata.distance = 1.05
_state_machine.userdata.taxi = "taxi"
_state_machine.userdata.umbrella = "umbrella"
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:365, x:130 y:365, x:230 y:365
_sm_get_closer_0 = ConcurrencyContainer(
outcomes=['finished'],
input_keys=['ID'],
conditions=[('finished', [('follow', 'failed')]),
('finished', [('wait 3', 'done')])])
with _sm_get_closer_0:
# x:46 y:131
OperatableStateMachine.add('follow',
SaraFollow(distance=1.15,
ReplanPeriod=0.5),
transitions={'failed': 'finished'},
autonomy={'failed': Autonomy.Off},
remapping={'ID': 'ID'})
# x:223 y:134
OperatableStateMachine.add('wait 3',
WaitState(wait_time=4),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:571 y:592
_sm_scan_1 = OperatableStateMachine(outcomes=['finished'])
with _sm_scan_1:
# x:42 y:66
OperatableStateMachine.add(
'Looking',
SaraSay(
sentence=
"I am trying to find who wants to leave. Please raise your hand.",
input_keys=[],
emotion=0,
block=False),
transitions={'done': 'center'},
autonomy={'done': Autonomy.Off})
# x:394 y:262
OperatableStateMachine.add('right',
SaraSetHeadAngle(pitch=0.1, yaw=-0.3),
transitions={'done': 'w3'},
autonomy={'done': Autonomy.Off})
# x:206 y:372
OperatableStateMachine.add('center2',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w4'},
autonomy={'done': Autonomy.Off})
# x:34 y:589
OperatableStateMachine.add('w1',
WaitState(wait_time=3),
transitions={'done': 'center3'},
autonomy={'done': Autonomy.Off})
# x:413 y:159
OperatableStateMachine.add('w2',
WaitState(wait_time=3),
transitions={'done': 'right'},
autonomy={'done': Autonomy.Off})
# x:415 y:370
OperatableStateMachine.add('w3',
WaitState(wait_time=3),
transitions={'done': 'center2'},
autonomy={'done': Autonomy.Off})
# x:39 y:371
OperatableStateMachine.add('w4',
WaitState(wait_time=3),
transitions={'done': 'left'},
autonomy={'done': Autonomy.Off})
# x:16 y:475
OperatableStateMachine.add('left',
SaraSetHeadAngle(pitch=0.1, yaw=0.3),
transitions={'done': 'w1'},
autonomy={'done': Autonomy.Off})
# x:215 y:156
OperatableStateMachine.add('center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w2'},
autonomy={'done': Autonomy.Off})
# x:213 y:579
OperatableStateMachine.add('center3',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'wait'},
autonomy={'done': Autonomy.Off})
# x:393 y:576
OperatableStateMachine.add('wait',
WaitState(wait_time=4),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:32 y:494, x:627 y:411
_sm_filtregender_2 = OperatableStateMachine(
outcomes=['none_found', 'found person'],
input_keys=['name'],
output_keys=['pronoun', 'person'])
with _sm_filtregender_2:
# x:109 y:51
OperatableStateMachine.add('List',
list_entities_by_name(
frontality_level=0.5,
distance_max=10),
transitions={
'found': 'FiltreWave',
'none_found': 'none_found'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'name',
'entity_list': 'entity_list',
'number': 'number'
})
# x:180 y:301
OperatableStateMachine.add(
'FiltreExitingwomen',
Filter(filter=lambda x: x.face.gender == "female"),
transitions={'done': 'no female?'},
autonomy={'done': Autonomy.Off},
remapping={
'input_list': 'persons',
'output_list': 'female'
})
# x:174 y:386
OperatableStateMachine.add(
'no female?',
CheckConditionState(predicate=lambda x: len(x) > 0),
transitions={
'true': 'set pronoun female',
'false': 'set pronoun male'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={'input_value': 'female'})
# x:374 y:312
OperatableStateMachine.add(
'set pronoun female',
SetKey(Value="miss"),
transitions={'done': 'get first female'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'pronoun'})
# x:181 y:476
OperatableStateMachine.add('set pronoun male',
SetKey(Value=""),
transitions={'done': 'get first male'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'pronoun'})
# x:599 y:290
OperatableStateMachine.add(
'get first female',
CalculationState(calculation=lambda x: x[0]),
transitions={'done': 'found person'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'female',
'output_value': 'person'
})
# x:381 y:408
OperatableStateMachine.add(
'get first male',
CalculationState(calculation=lambda x: x[0]),
transitions={'done': 'found person'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'persons',
'output_value': 'person'
})
# x:151 y:135
OperatableStateMachine.add(
'FiltreWave',
Filter(filter=lambda x: x.pose.right_arm_up or x.pose.
left_arm_up),
transitions={'done': 'if more than 0'},
autonomy={'done': Autonomy.Off},
remapping={
'input_list': 'entity_list',
'output_list': 'persons'
})
# x:157 y:217
OperatableStateMachine.add(
'if more than 0',
CheckConditionState(predicate=lambda x: len(x) > 0),
transitions={
'true': 'FiltreExitingwomen',
'false': 'none_found'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={'input_value': 'persons'})
# x:772 y:208, x:360 y:516
_sm_confirm_3 = OperatableStateMachine(
outcomes=['false', 'done'], input_keys=['Person', 'pronoun'])
with _sm_confirm_3:
# x:66 y:83
OperatableStateMachine.add(
'Confirm',
SaraSay(sentence=lambda x: "would you like to leave, " + x[0] +
"?",
input_keys=["pronoun"],
emotion=0,
block=True),
transitions={'done': 'GetSpeech'},
autonomy={'done': Autonomy.Off},
remapping={'pronoun': 'pronoun'})
# x:82 y:504
OperatableStateMachine.add('GetID',
SetRosParam(ParamName="OpeID"),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off},
remapping={'Value': 'ID'})
# x:67 y:298
OperatableStateMachine.add('if yes',
RegexTester(regex=".*((yes)|(I do)).*"),
transitions={
'true': 'get id',
'false': 'test no'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'text': 'text',
'result': 'result'
})
# x:84 y:409
OperatableStateMachine.add('get id',
GetAttribute(attributes=["ID"]),
transitions={'done': 'GetID'},
autonomy={'done': Autonomy.Off},
remapping={
'object': 'Person',
'ID': 'ID'
})
# x:87 y:188
OperatableStateMachine.add('GetSpeech',
GetSpeech(watchdog=10),
transitions={
'done': 'if yes',
'nothing': 'sayno',
'fail': 'if yes'
},
autonomy={
'done': Autonomy.Off,
'nothing': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={'words': 'text'})
# x:259 y:193
OperatableStateMachine.add(
'sayno',
SaraSay(
sentence="Sorry, did you say that you wanted to leave?",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'getno'},
autonomy={'done': Autonomy.Off})
# x:439 y:179
OperatableStateMachine.add('getno',
GetSpeech(watchdog=10),
transitions={
'done': 'getNO',
'nothing': 'false',
'fail': 'false'
},
autonomy={
'done': Autonomy.Off,
'nothing': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={'words': 'text'})
# x:603 y:337
OperatableStateMachine.add('getNO',
RegexTester(regex=".*((yes)|(I do)).*"),
transitions={
'true': 'get id',
'false': 'false'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'text': 'text',
'result': 'result'
})
# x:246 y:298
OperatableStateMachine.add('test no',
RegexTester(regex=".*((no)|(not)).*"),
transitions={
'true': 'false',
'false': 'sayno'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'text': 'text',
'result': 'result'
})
# x:228 y:419
_sm_find_raising_arm_4 = OperatableStateMachine(
outcomes=['finished'], output_keys=['umbrella'])
with _sm_find_raising_arm_4:
# x:33 y:48
OperatableStateMachine.add('setperson',
SetKey(Value="person"),
transitions={'done': 'gettaxiperson'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'person'})
# x:183 y:120
OperatableStateMachine.add('gettaxiperson',
list_entities_by_name(
frontality_level=0.5,
distance_max=10),
transitions={
'found': 'taxi',
'none_found': 'gettaxiperson'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'person',
'entity_list': 'entity_list',
'number': 'number'
})
# x:408 y:270
OperatableStateMachine.add(
'if',
CheckConditionState(predicate=lambda x: len(x) > 0),
transitions={
'true': 'get first',
'false': 'gettaxiperson'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={'input_value': 'output_list'})
# x:344 y:184
OperatableStateMachine.add(
'taxi',
Filter(filter=lambda x: x.pose.right_arm_up or x.pose.
left_arm_up),
transitions={'done': 'if'},
autonomy={'done': Autonomy.Off},
remapping={
'input_list': 'entity_list',
'output_list': 'output_list'
})
# x:405 y:359
OperatableStateMachine.add(
'get first',
CalculationState(calculation=lambda x: x[0]),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'output_list',
'output_value': 'umbrella'
})
# x:30 y:365
_sm_rotation_5 = OperatableStateMachine(outcomes=['end'])
with _sm_rotation_5:
# x:51 y:38
OperatableStateMachine.add('Set 180 degres',
SetKey(Value=3.1416),
transitions={'done': 'Look Center'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'rotation'})
# x:613 y:470
OperatableStateMachine.add(
'action_turn',
self.use_behavior(
sara_flexbe_behaviors__action_turnSM,
'GetTaxi/Find umbrella/gettaxihuman/Rotation/action_turn'),
transitions={
'finished': 'Look Right',
'failed': 'Look Right'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'rotation': 'rotation'})
# x:421 y:54
OperatableStateMachine.add('Look Right',
SaraSetHeadAngle(pitch=0, yaw=-1.5),
transitions={'done': 'w2'},
autonomy={'done': Autonomy.Off})
# x:265 y:56
OperatableStateMachine.add('w1',
WaitState(wait_time=4),
transitions={'done': 'Look Right'},
autonomy={'done': Autonomy.Off})
# x:630 y:56
OperatableStateMachine.add('w2',
WaitState(wait_time=4),
transitions={'done': 'center'},
autonomy={'done': Autonomy.Off})
# x:250 y:177
OperatableStateMachine.add('Look Center',
SaraSetHeadAngle(pitch=0, yaw=0),
transitions={'done': 'w1'},
autonomy={'done': Autonomy.Off})
# x:618 y:304
OperatableStateMachine.add('Look Left 2',
SaraSetHeadAngle(pitch=0, yaw=1.5),
transitions={'done': 'w4'},
autonomy={'done': Autonomy.Off})
# x:612 y:138
OperatableStateMachine.add('center',
SaraSetHeadAngle(pitch=0, yaw=0),
transitions={'done': 'w3'},
autonomy={'done': Autonomy.Off})
# x:635 y:214
OperatableStateMachine.add('w3',
WaitState(wait_time=4),
transitions={'done': 'Look Left 2'},
autonomy={'done': Autonomy.Off})
# x:636 y:394
OperatableStateMachine.add('w4',
WaitState(wait_time=4),
transitions={'done': 'action_turn'},
autonomy={'done': Autonomy.Off})
# x:30 y:365
_sm_find_entity_6 = OperatableStateMachine(outcomes=['found'],
input_keys=['className'],
output_keys=['entity'])
with _sm_find_entity_6:
# x:181 y:178
OperatableStateMachine.add('find_entity',
list_entities_by_name(
frontality_level=0.5,
distance_max=4),
transitions={
'found': 'Get Entity',
'none_found': 'find_entity'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'className',
'entity_list': 'entity_list',
'number': 'number'
})
# x:454 y:178
OperatableStateMachine.add(
'Get Entity',
CalculationState(calculation=lambda x: x[0]),
transitions={'done': 'found'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entity_list',
'output_value': 'entity'
})
# x:194 y:40
OperatableStateMachine.add('WaitState',
WaitState(wait_time=1),
transitions={'done': 'find_entity'},
autonomy={'done': Autonomy.Off})
# x:34 y:496, x:130 y:365, x:475 y:291, x:330 y:365, x:430 y:365
_sm_gettaxihuman_7 = ConcurrencyContainer(
outcomes=['found', 'not_found'],
input_keys=['umbrella'],
output_keys=['umbrella'],
conditions=[('not_found', [('Rotation', 'end')]),
('found', [('Find Entity', 'found')]),
('found', [('FInd raising arm', 'finished')])])
with _sm_gettaxihuman_7:
# x:127 y:67
OperatableStateMachine.add('Find Entity',
_sm_find_entity_6,
transitions={'found': 'found'},
autonomy={'found': Autonomy.Inherit},
remapping={
'className': 'umbrella',
'entity': 'umbrella'
})
# x:129 y:180
OperatableStateMachine.add('Rotation',
_sm_rotation_5,
transitions={'end': 'not_found'},
autonomy={'end': Autonomy.Inherit})
# x:377 y:127
OperatableStateMachine.add('FInd raising arm',
_sm_find_raising_arm_4,
transitions={'finished': 'found'},
autonomy={'finished': Autonomy.Inherit},
remapping={'umbrella': 'umbrella'})
# x:73 y:441, x:586 y:51
_sm_find_umbrella_8 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['umbrella'],
output_keys=['umbrella'])
with _sm_find_umbrella_8:
# x:67 y:42
OperatableStateMachine.add('Look Center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'gettaxihuman'},
autonomy={'done': Autonomy.Off})
# x:278 y:138
OperatableStateMachine.add('Look Center Not Found',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:58 y:326
OperatableStateMachine.add('Log Entity',
LogKeyState(
text="Found entity: {}",
severity=Logger.REPORT_HINT),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={'data': 'umbrella'})
# x:63 y:126
OperatableStateMachine.add('gettaxihuman',
_sm_gettaxihuman_7,
transitions={
'found': 'WaitState',
'not_found': 'Look Center Not Found'
},
autonomy={
'found': Autonomy.Inherit,
'not_found': Autonomy.Inherit
},
remapping={'umbrella': 'umbrella'})
# x:67 y:222
OperatableStateMachine.add('WaitState',
WaitState(wait_time=1),
transitions={'done': 'Log Entity'},
autonomy={'done': Autonomy.Off})
# x:83 y:284
_sm_lift_head_9 = OperatableStateMachine(outcomes=['finished'])
with _sm_lift_head_9:
# x:53 y:42
OperatableStateMachine.add('lift head',
SaraSetHeadAngle(pitch=0, yaw=0),
transitions={'done': 'wait 2'},
autonomy={'done': Autonomy.Off})
# x:57 y:152
OperatableStateMachine.add('wait 2',
WaitState(wait_time=3),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:30 y:365
_sm_get_closer_10 = OperatableStateMachine(outcomes=['finished'],
input_keys=['person'])
with _sm_get_closer_10:
# x:151 y:63
OperatableStateMachine.add('get ID',
GetAttribute(attributes=["ID"]),
transitions={'done': 'Get closer'},
autonomy={'done': Autonomy.Off},
remapping={
'object': 'person',
'ID': 'ID'
})
# x:135 y:194
OperatableStateMachine.add('Get closer',
_sm_get_closer_0,
transitions={'finished': 'finished'},
autonomy={'finished': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:607 y:98, x:558 y:330
_sm_get_gender_11 = OperatableStateMachine(
outcomes=['none_found', 'done'],
input_keys=['name', 'distance'],
output_keys=['person', 'pronoun'])
with _sm_get_gender_11:
# x:30 y:40
OperatableStateMachine.add('set head',
SaraSetHeadAngle(pitch=0, yaw=0),
transitions={'done': 'Scan'},
autonomy={'done': Autonomy.Off})
# x:441 y:109
OperatableStateMachine.add('FiltreGender',
_sm_filtregender_2,
transitions={
'none_found': 'none_found',
'found person': 'done'
},
autonomy={
'none_found': Autonomy.Inherit,
'found person': Autonomy.Inherit
},
remapping={
'name': 'name',
'pronoun': 'pronoun',
'person': 'person'
})
# x:211 y:93
OperatableStateMachine.add(
'Scan',
_sm_scan_1,
transitions={'finished': 'FiltreGender'},
autonomy={'finished': Autonomy.Inherit})
# x:30 y:373, x:130 y:373
_sm_nevermind_12 = OperatableStateMachine(outcomes=['done', 'failed'],
input_keys=['poseOrigin'])
with _sm_nevermind_12:
# x:30 y:40
OperatableStateMachine.add('say ok',
SaraSay(sentence="I will try again",
input_keys=[],
emotion=0,
block=False),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off})
# x:26 y:192
OperatableStateMachine.add(
'Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM,
'nevermind/Action_Move'),
transitions={
'finished': 'done',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'pose': 'poseOrigin'})
# x:30 y:458, x:130 y:458, x:230 y:458, x:330 y:458, x:430 y:458
_sm_confirm_13 = ConcurrencyContainer(
outcomes=['false', 'done'],
input_keys=['person', 'pronoun'],
conditions=[('false', [('Confirm', 'false')]),
('done', [('Confirm', 'done')]),
('false', [('LookAtClosest', 'failed')])])
with _sm_confirm_13:
# x:95 y:163
OperatableStateMachine.add('Confirm',
_sm_confirm_3,
transitions={
'false': 'false',
'done': 'done'
},
autonomy={
'false': Autonomy.Inherit,
'done': Autonomy.Inherit
},
remapping={
'Person': 'person',
'pronoun': 'pronoun'
})
# x:309 y:162
OperatableStateMachine.add(
'LookAtClosest',
self.use_behavior(sara_flexbe_behaviors__LookAtClosestSM,
'confirm/LookAtClosest'),
transitions={'failed': 'false'},
autonomy={'failed': Autonomy.Inherit})
# x:65 y:581, x:688 y:449
_sm_gettaxi_14 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['distance', 'taxi', 'umbrella'])
with _sm_gettaxi_14:
# x:103 y:28
OperatableStateMachine.add(
'Action_Move_to taxi',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM,
'GetTaxi/Action_Move_to taxi'),
transitions={
'finished': 'Lift head',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'pose': 'taxi'})
# x:220 y:546
OperatableStateMachine.add(
'Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM,
'GetTaxi/Action_Move'),
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'pose': 'pose_out'})
# x:80 y:475
OperatableStateMachine.add('NotTooClose',
Get_Reacheable_Waypoint(),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off},
remapping={
'pose_in': 'position',
'distance': 'distance',
'pose_out': 'pose_out'
})
# x:81 y:400
OperatableStateMachine.add('GEtUmbrellaPosition',
GetAttribute(attributes=["position"]),
transitions={'done': 'NotTooClose'},
autonomy={'done': Autonomy.Off},
remapping={
'object': 'umbrella',
'position': 'position'
})
# x:108 y:131
OperatableStateMachine.add(
'Lift head',
_sm_lift_head_9,
transitions={'finished': 'Find umbrella'},
autonomy={'finished': Autonomy.Inherit})
# x:150 y:315
OperatableStateMachine.add(
'log',
LogKeyState(text="found umbrella: {}",
severity=Logger.REPORT_HINT),
transitions={'done': 'GEtUmbrellaPosition'},
autonomy={'done': Autonomy.Off},
remapping={'data': 'umbrella'})
# x:267 y:312
OperatableStateMachine.add(
'say see taxy',
SaraSay(
sentence=
"I see the taxi. Over there. The person with the umbrella.",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'log'},
autonomy={'done': Autonomy.Off})
# x:111 y:204
OperatableStateMachine.add('Find umbrella',
_sm_find_umbrella_8,
transitions={
'finished': 'say see taxy',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'umbrella': 'umbrella'})
with _state_machine:
# x:46 y:16
OperatableStateMachine.add('GetOrigin',
Get_Robot_Pose(),
transitions={'done': 'Init_Sequence'},
autonomy={'done': Autonomy.Off},
remapping={'pose': 'poseOrigin'})
# x:63 y:574
OperatableStateMachine.add('GetTaxi',
_sm_gettaxi_14,
transitions={
'finished': 'say succeed',
'failed': 'say fail'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'distance': 'distance',
'taxi': 'taxi',
'umbrella': 'umbrella'
})
# x:103 y:369
OperatableStateMachine.add('confirm',
_sm_confirm_13,
transitions={
'false': 'nevermind',
'done': 'say taxi'
},
autonomy={
'false': Autonomy.Inherit,
'done': Autonomy.Inherit
},
remapping={
'person': 'person',
'pronoun': 'pronoun'
})
# x:289 y:142
OperatableStateMachine.add(
'say nobody',
SaraSay(sentence="I don't see any raised hand.",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'Get Gender'},
autonomy={'done': Autonomy.Off})
# x:571 y:104
OperatableStateMachine.add(
'say fail',
SaraSay(sentence="I failed this scenario. Sorry.",
input_keys=[],
emotion=3,
block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:245 y:595
OperatableStateMachine.add('say succeed',
SaraSay(
sentence="here is the taxy driver.",
input_keys=[],
emotion=5,
block=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:103 y:483
OperatableStateMachine.add(
'say taxi',
SaraSay(sentence="Ok, follow me to the taxi then.",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'GetTaxi'},
autonomy={'done': Autonomy.Off})
# x:49 y:101
OperatableStateMachine.add(
'Init_Sequence',
self.use_behavior(sara_flexbe_behaviors__Init_SequenceSM,
'Init_Sequence'),
transitions={
'finished': 'Get Gender',
'failed': 'say fail'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:17 y:288
OperatableStateMachine.add('nevermind',
_sm_nevermind_12,
transitions={
'done': 'Get Gender',
'failed': 'say fail'
},
autonomy={
'done': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'poseOrigin': 'poseOrigin'})
# x:30 y:192
OperatableStateMachine.add('Get Gender',
_sm_get_gender_11,
transitions={
'none_found': 'say nobody',
'done': 'get closer'
},
autonomy={
'none_found': Autonomy.Inherit,
'done': Autonomy.Inherit
},
remapping={
'name': 'name',
'distance': 'distance',
'person': 'person',
'pronoun': 'pronoun'
})
# x:259 y:310
OperatableStateMachine.add('get closer',
_sm_get_closer_10,
transitions={'finished': 'confirm'},
autonomy={'finished': Autonomy.Inherit},
remapping={'person': 'person'})
return _state_machine
def create(self):
# x:1428 y:298, x:1110 y:127
_state_machine = OperatableStateMachine(
outcomes=['finished', 'fail'],
input_keys=['Shipments', 'NumberOfShipments'])
_state_machine.userdata.Shipments = []
_state_machine.userdata.NumberOfShipments = 0
_state_machine.userdata.Products = []
_state_machine.userdata.NumberOfProducts = 0
_state_machine.userdata.AgvID = ''
_state_machine.userdata.ShipmentIndex = 1
_state_machine.userdata.ShipmentType = ''
_state_machine.userdata.ShipmentIterator = 0
_state_machine.userdata.OneValue = 1
_state_machine.userdata.agv_id = ''
_state_machine.userdata.agv_ready_state = ''
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:43 y:24
OperatableStateMachine.add('GetProducts',
GetProductsFromShipmentState(),
transitions={
'continue': 'get_products',
'invalid_index': 'fail'
},
autonomy={
'continue': Autonomy.Off,
'invalid_index': Autonomy.Off
},
remapping={
'shipments': 'Shipments',
'index': 'ShipmentIterator',
'shipment_type': 'ShipmentType',
'agv_id': 'agv_id',
'products': 'Products',
'number_of_products':
'NumberOfProducts'
})
# x:1475 y:229
OperatableStateMachine.add(
'IncrementShipmentsIterator',
AddNumericState(),
transitions={'done': 'CompareShepmentsIterator'},
autonomy={'done': Autonomy.Off},
remapping={
'value_a': 'ShipmentIterator',
'value_b': 'OneValue',
'result': 'ShipmentIterator'
})
# x:1218 y:234
OperatableStateMachine.add('CompareShepmentsIterator',
EqualState(),
transitions={
'true': 'finished',
'false': 'GetProducts'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'value_a': 'ShipmentIterator',
'value_b': 'NumberOfShipments'
})
# x:730 y:26
OperatableStateMachine.add('get_products',
self.use_behavior(
get_productsSM, 'get_products'),
transitions={
'finished': 'NotifyShipmentReady',
'fail': 'fail'
},
autonomy={
'finished': Autonomy.Inherit,
'fail': Autonomy.Inherit
},
remapping={
'Products': 'Products',
'NumberOfProducts':
'NumberOfProducts',
'agv_id': 'agv_id'
})
# x:1354 y:16
OperatableStateMachine.add('GetAgvState',
GetAgvStatusState(),
transitions={
'continue': 'AgvReady',
'fail': 'fail'
},
autonomy={
'continue': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={
'agv_id': 'agv_id',
'agv_state': 'agv_state'
})
# x:1228 y:125
OperatableStateMachine.add('AgvReady',
EqualState(),
transitions={
'true':
'IncrementShipmentsIterator',
'false': 'Wait'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'value_a': 'agv_state',
'value_b': 'agv_ready_state'
})
# x:1177 y:23
OperatableStateMachine.add('Wait',
WaitState(wait_time=1),
transitions={'done': 'GetAgvState'},
autonomy={'done': Autonomy.Off})
# x:959 y:20
OperatableStateMachine.add('NotifyShipmentReady',
NotifyShipmentReadyState(),
transitions={
'continue': 'Wait',
'fail': 'fail'
},
autonomy={
'continue': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={
'agv_id': 'agv_id',
'shipment_type': 'ShipmentType',
'success': 'success',
'message': 'message'
})
return _state_machine
