def _transitions():
return {
pipe.Centering.SETTLED: task.Next,
task.TIMEOUT: task.Next,
'GATE': state.Branch(pipe.Searching),
'PIPE': state.Branch(pipe.Seeking)
}
def transitions():
return { "Start" : End,
"Change" : Simple,
"LoopBack" : LoopBack ,
MockEventSource.THING_UPDATED : Simple,
MockEventSource.ANOTHER_EVT : QueueTestState,
"Branch" : state.Branch(BranchedState) }
def enter(self, defaultTimeout=240):
timeout = self.ai.data['config'].get('Bin',
{}).get('taskTimeout',
defaultTimeout)
task.Task.enter(self, defaultTimeout=timeout)
self.stateMachine.start(state.Branch(bin.Start))
def _transitions():
return {
bin.COMPLETE: task.Next,
task.TIMEOUT: task.Next,
RandomBin.MOVE_ON: task.Next,
'GO': state.Branch(bin.Start)
}
def enter(self, defaultTimeout=120):
timeout = self.ai.data['config'].get('Hedge',
{}).get('taskTimeout',
defaultTimeout)
task.Task.enter(self, defaultTimeout=timeout)
self.stateMachine.start(state.Branch(hedge.Start))
def enter(self, defaultTimeout = 120):
# Initialize task part of class
timeout = self.ai.data['config'].get('Target', {}).get(
'taskTimeout', defaultTimeout)
task.Task.enter(self, defaultTimeout = timeout)
self.stateMachine.start(state.Branch(target.Start))
def _transitions():
return {
gate.COMPLETE: task.Next,
vision.EventType.PIPE_FOUND: task.Next,
Gate.PIPE_ON: Gate,
'GO': state.Branch(gate.Start)
}
def _transitions(thisState = None):
if thisState is None:
thisState = Light
return { light.COMPLETE : task.Next,
light.FAILURE : task.Failure,
task.TIMEOUT : task.Next,
'GO' : state.Branch(light.Start) }
def PIPE_FOUND(self, event):
if not self._branched:
self.motionManager.stopCurrentMotion()
self.stateMachine.start(state.Branch(pipe.Seeking))
self._branched = True
if self.timer is not None:
self.timer.stop()
def _transitions(currentState = None):
if currentState is None:
currentState = Pipe
return { pipe.Centering.SETTLED : currentState,
Pipe.COMPLETE : task.Next,
task.TIMEOUT : task.Next,
'GO' : state.Branch(pipe.Start) }
def enter(self, defaultTimeout = 90):
self._className = type(self).__name__
timeout = self.ai.data['config'].get(self._className, {}).get(
'taskTimeout', defaultTimeout)
task.Task.enter(self, defaultTimeout = timeout)
self.stateMachine.start(state.Branch(light.Start))
def _transitions():
return {
buoy.COMPLETE: task.Next,
buoy.Searching.BUOY_SEARCHING: Buoy,
vision.EventType.BUOY_FOUND: Buoy,
task.TIMEOUT: task.Next,
'GO': state.Branch(buoy.Start)
}
def enter(self, defaultTimeout = 60):
self._className = type(self).__name__
timeout = self.ai.data['config'].get(self._className, {}).get(
'taskTimeout', defaultTimeout)
task.Task.enter(self, defaultTimeout = timeout)
# Branch off state machine for finding the pipe
self.stateMachine.start(state.Branch(cupid.Start))
def enter(self, defaultTimeout = 500):
# TODO: base the timeout off an offset from how much time we have left
# in the mission
timeout = self.ai.data['config'].get('SafeSonar', {}).get(
'taskTimeout', defaultTimeout)
task.Task.enter(self, defaultTimeout = timeout)
self.stateMachine.start(state.Branch(sonarSafe.Settling))
def _transitions():
return {
task.TIMEOUT: task.Next,
vision.EventType.WINDOW_FOUND: Window,
window.Searching.WINDOW_SEARCHING: Window,
window.COMPLETE: task.Next,
'GO': state.Branch(window.Start)
}
def testBranchState(self):
self.machine.start(state.Branch(Simple))
# Make sure current state stayed
self.assertEqual(Start, type(self.machine.currentState()))
# Ensure we actually branched
self.assertEqual(1, len(self.machine.branches))
self.assert_(self.machine.branches.has_key(Simple))
def enter(self, defaultTimeout = 60):
self._className = type(self).__name__
timeout = self.ai.data['config'].get(self._className, {}).get(
'taskTimeout', defaultTimeout)
task.Task.enter(self, defaultTimeout = timeout)
self.ai.data['pipeBiasDirection'] = \
self.ai.data['config'].get('PipeGate', {}).get(
'biasDirection', None)
self.ai.data['pipeThreshold'] = \
self.ai.data['config'].get('PipeGate', {}).get(
'threshold', None)
# Branch off state machine for finding the pipe
if self.ai.data.get('foundPipeEarly', False):
self.stateMachine.start(state.Branch(pipe.Seeking))
else:
self.stateMachine.start(state.Branch(pipe.Searching))
def enter(self):
task.Task.enter(self)
# Activate the sonar system
self.stateMachine.start(state.Branch(sonar.Hovering))
# Start our dive
diveMotion = motion.basic.RateChangeDepth(
desiredDepth=self._config.get('depth', 10),
speed=self._config.get('diveSpeed', 0.3))
self.motionManager.setMotion(diveMotion)
def enter(self, defaultTimeout=60):
timeout = self.ai.data['config'].get('RandomBin',
{}).get('taskTimeout',
defaultTimeout)
task.Task.enter(self, defaultTimeout=timeout)
if self.ai.data.get('binComplete', False):
self.publish(RandomBin.MOVE_ON, core.Event())
else:
self.stateMachine.start(state.Branch(randombin.Start))
def enter(self, defaultTimeout = 120):
# Initialize task part of class
timeout = self.ai.data['config'].get('Window', {}).get(
'taskTimeout', defaultTimeout)
task.Task.enter(self, defaultTimeout = timeout)
self._lostDelay = self.ai.data['config'].get('Window', {}).get(
'lostTimeout', 5)
self._lostTimeout = None
self._windowFound = False
self.stateMachine.start(state.Branch(window.Start))
def testBranchStop(self):
self.machine.start(state.Branch(Simple))
branchedState = self.machine.branches[Simple].currentState()
self.machine.stop()
# Ensure we actually stopped the branch
self.assertEqual(0, len(self.machine.branches))
self.assert_(branchedState.exited)
# Now test stopping just one branch
self.machine.start(state.Branch(Simple))
self.machine.start(state.Branch(Start))
self.assertEqual(2, len(self.machine.branches))
self.machine.stopBranch(Simple)
self.assertEqual(1, len(self.machine.branches))
self.assertFalse(self.machine.branches.has_key(Simple))
self.machine.stopBranch(Start)
self.assertEqual(0, len(self.machine.branches))
self.assertFalse(self.machine.branches.has_key(Start))
def enter(self, defaultTimeout = 500):
timeout = self.ai.data['config'].get('Vase', {}).get(
'taskTimeout', defaultTimeout)
task.Task.enter(self, defaultTimeout = timeout)
self.ai.data['vaseOrientation'] = \
self._config.get('vaseOrientation', 0)
if self.ai.data['vaseOrientation'] == 0:
# Save current heading
self.ai.data['vaseOrientation'] = \
self.stateEstimator.getEstimatedOrientation().getYaw().valueDegrees()
self.stateMachine.start(state.Branch(vase.Start))
def enter(self, defaultTimeout = 90):
timeout = self.ai.data['config'].get('Buoy', {}).get(
'taskTimeout', defaultTimeout)
task.Task.enter(self, defaultTimeout = timeout)
self._lostDelay = self.ai.data['config'].get('Buoy', {}).get(
'lostTimeout', 5)
self._lostTimeout = None
self._searchDelay = self.ai.data['config'].get('Buoy', {}).get(
'searchTimeout', 10)
self._searchTimeout = None
self._buoyFound = False
self.stateMachine.start(state.Branch(oldBuoy.Start))
def enter(self, defaultTimeout = 60):
self._className = type(self).__name__
timeout = self.ai.data['config'].get(self._className, {}).get(
'taskTimeout', defaultTimeout)
task.Task.enter(self, defaultTimeout = timeout)
self.ai.data['laneOrientation'] = \
self.ai.data['config'].get(self._className, {}).get(
'orientation', 0)
self.ai.data['laneDepth'] = \
self.ai.data['config'].get(self._className, {}).get(
'depth', 5)
# Branch off state machine for finding the pipe
self.stateMachine.start(state.Branch(lane.Start))
def enter(self):
task.Task.enter(self)
self.ai.data['foundPipeEarly'] = False
self.exited = False
# Branch of state machine for gate
self.stateMachine.start(state.Branch(gate.Start))
# Save current heading
self.ai.data['gateOrientation'] = \
self.controller.getDesiredOrientation()
# Setup timer to trigger pipe detector after a certain delay
delay = self._config.get('pipeDelay', 30)
self.timer = self.timerManager.newTimer(Gate.PIPE_ON, delay)
self.timer.start()
def enter(self, defaultTimeout = 60):
self._className = type(self).__name__
timeout = self.ai.data['config'].get(self._className, {}).get(
'taskTimeout', defaultTimeout)
task.Task.enter(self, defaultTimeout = timeout)
self._pipesToFind = self._config.get('pipesToFind', 1)
self._pipeCount = 0
self.ai.data['pipeBiasDirection'] = \
self.ai.data['config'].get(self._className, {}).get(
'biasDirection', None)
self.ai.data['pipeThreshold'] = \
self.ai.data['config'].get(self._className, {}).get(
'threshold', None)
# Branch off state machine for finding the pipe
self.stateMachine.start(state.Branch(pipe.Start))
def enter(self, defaultTimeout = 240):
self._className = type(self).__name__
self.ai.data['binOrientation'] = self.ai.data['config'].get(self._className, {}).get('orientation', 0)
# get the list of buoys we want to hit
self.ai.data['symbolList'] = \
self.ai.data['config'].get('targetSymbols', [])
if len(self.ai.data['symbolList']) == 0:
raise LookupError, "No symbols specified"
# if self.ai.data['buoyOrientation'] is None:
# raise LookupError, "No orientation specified"
timeout = self.ai.data['config'].get('Bin', {}).get(
'taskTimeout', defaultTimeout)
task.Task.enter(self, defaultTimeout = timeout)
self.stateMachine.start(state.Branch(bin.Start))
def enter(self):
task.Task.enter(self)
self.exited = False
# Branch of state machine for gate
self.stateMachine.start(state.Branch(gate.Start))
self.ai.data['gateOrientation'] = \
self._config.get('gateOrientation', 0)
self.ai.data['fakeGateDistance'] = \
self._config.get('fakeGateDistance', 5)
self.ai.data['fakeGate'] = True
if self.ai.data['gateOrientation'] == 0:
# Save current heading
self.ai.data['gateOrientation'] = \
self.stateEstimator.getEstimatedOrientation().getYaw().valueDegrees()
def enter(self, defaultTimeout = 90):
timeout = self.ai.data['config'].get('Buoy', {}).get(
'taskTimeout', defaultTimeout)
task.Task.enter(self, defaultTimeout = timeout)
# get the list of buoys we want to hit
self.ai.data['buoyList'] = \
self.ai.data['config'].get('targetBuoys', [])
if len(self.ai.data['buoyList']) == 0:
raise LookupError, "No buoys specified"
self._lostDelay = self.ai.data['config'].get('Buoy', {}).get(
'lostTimeout', 5)
self._lostTimeout = None
self._searchDelay = self.ai.data['config'].get('Buoy', {}).get(
'searchTimeout', 10)
self._searchTimeout = None
self._buoyFound = False
self.stateMachine.start(state.Branch(buoy.Start))
def enter(self):
task.Task.enter(self)
self.ai.data['foundPipeEarly'] = False
self.exited = False
# Branch of state machine for gate
self.stateMachine.start(state.Branch(gate.Start))
self.ai.data['gateOrientation'] = \
self._config.get('gateOrientation', 0)
if self.ai.data['gateOrientation'] == 0:
# Save current heading
self.ai.data['gateOrientation'] = \
self.stateEstimator.getEstimatedOrientation().getYaw().valueDegrees()
self.ai.data['fakeGate'] = False
# Setup timer to trigger pipe detector after a certain delay
delay = self._config.get('pipeDelay', 30)
self.timer = self.timerManager.newTimer(Gate.PIPE_ON, delay)
self.timer.start()
