def transition_predicate_obj():
return fsm.TransitionPredicate(name='test_tp',
partial_obj=functools.partial(
predicate_zoo.has_obj_cls,
cls_name='test_cls'))
# -*- coding: utf-8 -*-
"""Simple example of using gabrieltool.statemachine.
"""
from __future__ import absolute_import, division, print_function
from functools import partial
from gabrieltool.statemachine import fsm, predicate_zoo, processor_zoo
# create a two state state machine
st_start = fsm.State(
name='start',
processors=[
fsm.Processor(name='proc_start',
callable_obj=processor_zoo.DummyProcessor())
],
transitions=[
fsm.Transition(name='tran_start_to_end',
predicates=[
fsm.TransitionPredicate(
partial_obj=partial(predicate_zoo.always))
])
])
st_end = fsm.State(name='end')
st_start.transitions[0].next_state = st_end
# save to disk
with open('examples/simple.pbfsm', 'wb') as f:
f.write(fsm.StateMachine.to_bytes(name='simple_fsm', start_state=st_start))
def build_sandwich_fsm():
# change data_dir, proto_path, model_path and labels below according to Antti's caffe model
data_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'../../data/sandwich-model')
#img_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'images_feedback')
labels = [
"tomato", "cheese", "full", "ham", "lettuce", "cucumber", "half",
"hamwrong", "bread"
]
proc = processor_zoo.FasterRCNNOpenCVProcessor(
proto_path=os.path.join(data_dir, 'faster_rcnn_test.pt'),
model_path=os.path.join(data_dir, 'model.caffemodel'),
labels=labels)
common_processor = fsm.Processor(callable_obj=proc)
st_start = fsm.State(name='start', processors=[common_processor])
st_bread = fsm.State(name='bread', processors=[common_processor])
st_ham = fsm.State(name='ham', processors=[common_processor])
st_lettuce = fsm.State(name='lettuce', processors=[common_processor])
st_end = fsm.State(name='end', processors=[common_processor])
# fill in transitions
st_start.transitions.append(
fsm.Transition(
predicates=[
fsm.TransitionPredicate(
partial_obj=partial(predicate_zoo.always))
],
instruction=fsm.Instruction(
audio='Now put a piece of bread on the table.'
#image=_load_image_bytes(os.path.join(img_dir, 'bread.jpeg'))
),
next_state=st_bread))
st_bread.transitions.append(
fsm.Transition(
predicates=[
fsm.TransitionPredicate(partial_obj=partial(
predicate_zoo.has_obj_cls, cls_name='bread'))
],
instruction=fsm.Instruction(
audio='Now put a piece of ham on the bread.'
#image=_load_image_bytes(os.path.join(img_dir, 'ham.jpeg'))
),
next_state=st_ham))
st_ham.transitions.append(
fsm.Transition(
predicates=[
fsm.TransitionPredicate(partial_obj=partial(
predicate_zoo.has_obj_cls, cls_name='ham'))
],
instruction=fsm.Instruction(
audio='Now put a piece of lettuce on the ham.'
#image=_load_image_bytes(os.path.join(img_dir, 'lettuce.jpeg'))
),
next_state=st_lettuce))
st_lettuce.transitions.append(
fsm.Transition(predicates=[
fsm.TransitionPredicate(partial_obj=partial(
predicate_zoo.has_obj_cls, cls_name='lettuce'))
],
instruction=fsm.Instruction(
audio='Congratulations! You have finished!'),
next_state=st_end))
return st_start