def execute(self, userdata):
smach.loginfo(self.__class__.__name__ + " must be subclassed. It does nothing.")
time.sleep(SLEEP_TIME) # why do we need to sleep?
self.counter += 1 # shouldn't this be incremented after?
if self.outcomes is None:
self.outcomes = self.get_registered_outcomes()
return self.outcomes[self.counter%len(self.outcomes)]
def execute(self, userdata):
smach.loginfo(self.__class__.__name__ + " must be subclassed. It does nothing.")
time.sleep(SLEEP_TIME)
self.counter += 1
if self.outcomes is None:
self.outcomes = self.get_registered_outcomes()
return self.outcomes[self.counter%len(self.outcomes)]
def execute(self, parent_ud=smach.UserData()):
# First time in this state machine
if self._current_state is None:
# Spew some info
smach.loginfo(
"State machine starting in initial state '%s' with userdata: \n\t%s"
% (self._current_label, list(self.userdata.keys())))
# Set initial state
self._set_current_state(self._initial_state_label)
# Initialize preempt state
self._preempted_label = None
self._preempted_state = None
# Call start callbacks
self.call_start_cbs()
# Copy input keys
self._copy_input_keys(parent_ud, self.userdata)
container_outcome = self._loopback_name
if self.id is not None:
# only top-level statemachine should loop for outcome
while container_outcome == self._loopback_name and not smach.is_shutdown(
):
# Update the state machine
container_outcome = self._async_execute(parent_ud)
else:
container_outcome = self._async_execute(parent_ud)
if smach.is_shutdown():
container_outcome = 'preempted'
return container_outcome
def execute(self, userdata):
# Print input keys to terminal
for input_key in self._input_keys:
smach.loginfo('userdata.{}: {}'.format(input_key,
userdata[input_key]))
return 'succeeded'
def execute(self, userdata):
smach.loginfo(self.__class__.__name__ +
" must be subclassed. It does nothing.")
time.sleep(SLEEP_TIME)
self.counter += 1
if self.outcomes is None:
self.outcomes = self.get_registered_outcomes()
return self.outcomes[self.counter % len(self.outcomes)]
def execute(self, parent_ud):
self._is_running = True
# Copy input keys
self._copy_input_keys(parent_ud, self.userdata)
self.call_start_cbs()
# Iterate over items
outcome = self._exhausted_outcome
if hasattr(self._items, '__call__'):
it = self._items().__iter__()
else:
it = self._items.__iter__()
while not smach.is_shutdown():
try:
item = next(it)
except:
outcome = self._exhausted_outcome
break
smach.loginfo("Iterating %s of %s" % (str(item), str(self._items)))
self.userdata[self._items_label] = item
# Enter the contained state
try:
outcome = self._state.execute(self.userdata)
except smach.InvalidUserCodeError as ex:
smach.logerr("Could not execute Iterator state '%s'" %
self._state_label)
raise ex
except:
raise smach.InvalidUserCodeError(
"Could not execute iterator state '%s' of type '%s': " %
(self._state_label, self._state) + traceback.format_exc())
# Check if we should stop preemptively
if self.preempt_requested():
self.service_preempt()
outcome = 'preempted'
break
if outcome in self._break_outcomes\
or (len(self._loop_outcomes) > 0 and outcome not in self._loop_outcomes):
break
self.call_transition_cbs()
# Remap the outcome if necessary
if outcome in self._final_outcome_map:
outcome = self._final_outcome_map[outcome]
# Copy output keys
self._copy_output_keys(self.userdata, parent_ud)
self._is_running = False
self.call_termination_cbs(self._state_label, outcome)
return outcome
def _state_runner(self, label):
"""Runs the states in parallel threads."""
# Wait until all threads are ready to start before beginnging
self._ready_event.wait()
self.call_transition_cbs()
# Execute child state
try:
self._child_outcomes[label] = self._states[label].execute(
smach.Remapper(
self.userdata,
self._states[label].get_registered_input_keys(),
self._states[label].get_registered_output_keys(),
self._remappings[label]))
except PreemptException:
self._child_outcomes[label] = self._default_outcome
except:
self._user_code_exception = True
with self._done_cond:
self._done_cond.notify_all()
raise smach.InvalidStateError(
("Could not execute child state '%s': " % label) +
traceback.format_exc())
# Make sure the child returned an outcome
if self._child_outcomes[label] is None:
raise smach.InvalidStateError(
"Concurrent state '%s' returned no outcome on termination." %
label)
else:
smach.loginfo(
"Concurrent state '%s' returned outcome '%s' on termination." %
(label, self._child_outcomes[label]))
self._done_cond.acquire()
self.request_preempt()
self._done_cond.notify_all()
self._done_cond.release()
# Check if all of the states have completed
with self._done_cond:
# initialize preemption flag
preempt_others = False
# Call transition cb's
self.call_transition_cbs()
# Call child termination cb if it's defined
if self._child_termination_cb:
try:
preempt_others = self._child_termination_cb(
self._child_outcomes)
except:
raise smach.InvalidUserCodeError(
"Could not execute child termination callback: " +
traceback.format_exc())
# Notify the container to terminate (and preempt other states if neceesary)
if preempt_others or all(
[o is not None for o in self._child_outcomes.values()]):
self._done_cond.notify_all()
def execute(self, parent_ud = smach.UserData()):
"""Run the state machine on entry to this state.
This will set the "closed" flag and spin up the execute thread. Once
this flag has been set, it will prevent more states from being added to
the state machine.
"""
# This will prevent preempts from getting propagated to non-existent children
with self._state_transitioning_lock:
# Check state consistency
try:
self.check_consistency()
except (smach.InvalidStateError, smach.InvalidTransitionError):
smach.logerr("Container consistency check failed.")
return None
# Set running flag
self._is_running = True
# Initialize preempt state
self._preempted_label = None
self._preempted_state = None
# Set initial state
self._set_current_state(self._initial_state_label)
# Copy input keys
self._copy_input_keys(parent_ud, self.userdata)
# Spew some info
smach.loginfo("State machine starting in initial state '%s' with userdata: \n\t%s" %
(self._current_label, list(self.userdata.keys())))
if self._preempt_requested:
smach.logwarn("Preempt on State machine requested before even executing initial state. This could be a bug. Did last execution not service preemption?")
# Call start callbacks
self.call_start_cbs()
# Initialize container outcome
container_outcome = None
# Step through state machine
while container_outcome is None and self._is_running and not smach.is_shutdown():
# Update the state machine
container_outcome = self._update_once()
# Copy output keys
self._copy_output_keys(self.userdata, parent_ud)
# We're no longer running
self._is_running = False
if self._preempt_requested:
self.service_preempt()
return container_outcome
def execute(self, parent_ud):
self._is_running = True
# Copy input keys
self._copy_input_keys(parent_ud, self.userdata)
self.call_start_cbs()
# Iterate over items
outcome = self._exhausted_outcome
if hasattr(self._items,'__call__'):
it = self._items().__iter__()
else:
it = self._items.__iter__()
while not smach.is_shutdown():
try:
item = next(it)
except:
outcome = self._exhausted_outcome
break
smach.loginfo("Iterating %s of %s" % (str(item), str(self._items)))
self.userdata[self._items_label] = item
# Enter the contained state
try:
outcome = self._state.execute(self.userdata)
except smach.InvalidUserCodeError as ex:
smach.logerr("Could not execute Iterator state '%s'" % self._state_label)
raise ex
except:
raise smach.InvalidUserCodeError("Could not execute iterator state '%s' of type '%s': " % ( self._state_label, self._state) + traceback.format_exc())
# Check if we should stop preemptively
if self._preempt_requested\
or outcome in self._break_outcomes\
or (len(self._loop_outcomes) > 0 and outcome not in self._loop_outcomes):
self._preempt_requested = False
break
self.call_transition_cbs()
# Remap the outcome if necessary
if outcome in self._final_outcome_map:
outcome = self._final_outcome_map[outcome]
# Copy output keys
self._copy_output_keys(self.userdata, parent_ud)
self._is_running = False
self.call_termination_cbs(self._state_label,outcome)
return outcome
def setup_state_machine(self):
smach.loginfo("Initializing state machine")
rospy.sleep(1)
with self.state_machine:
smach.StateMachine.add('START',
Start(self.davinciArm),
transitions={'success':'MOVE_TO_RETRACTION_STAGING_AREA'}, remapping ={'retractionStagingPose':'sm_data1', 'graspPoint':'sm_data2', 'dropOffStagingPose': 'sm_data3', 'dropOffPose': 'sm_data4'} )
smach.StateMachine.add('MOVE_TO_RETRACTION_STAGING_AREA',
MoveToRetractionStagingArea(self.davinciArm),
transitions={'success':'MOVE_TO_GRASP_POINT', 'failure': 'HOME_POSITION'}, remapping = {'retractionStagingPose':'sm_data1'})
smach.StateMachine.add('HOME_POSITION',
HomePosition(self.davinciArm),
transitions={'success':'START', 'failure': 'HOME_POSITION'})
smach.StateMachine.add('MOVE_TO_GRASP_POINT',
MoveToGraspPoint(self.davinciArm),
transitions={'success':'GRASP_BLOCK'}, remapping = {'graspPoint': 'sm_data2'})
smach.StateMachine.add('GRASP_BLOCK',
GraspBlock(self.davinciArm),
transitions={'success':'RETURN_TO_RETRACTION_STAGING_AREA_WITH_BLOCK', 'failure': 'RELEASE_GRIPPERS_NO_BLOCK'}, remapping = {'graspPoint': 'sm_data2'})
smach.StateMachine.add('CHECK_GRASP',
CheckGrasp(self.davinciArm),
transitions={'success':'MOVE_TO_DROP_OFF_STAGING_AREA', 'failure': 'RELEASE_GRIPPERS_NO_BLOCK'}, remapping = {'graspPoint': 'sm_data2'})
smach.StateMachine.add('RELEASE_GRIPPERS_NO_BLOCK',
ReleaseGrippersNoBlock(self.davinciArm),
transitions={'success':'MOVE_TO_RETRACTION_STAGING_AREA', 'failure': 'RELEASE_GRIPPERS_NO_BLOCK'})
smach.StateMachine.add('RETURN_TO_RETRACTION_STAGING_AREA_WITH_BLOCK',
ReturnToRetractionStagingAreaWithBlock(self.davinciArm),
transitions={'success':'CHECK_GRASP', 'failure': 'ABORT'}, remapping = {'retractionStagingPose':'sm_data1'})
smach.StateMachine.add('MOVE_TO_DROP_OFF_STAGING_AREA',
MoveToDropOffStagingArea(self.davinciArm),
transitions={'success':'MOVE_TO_DROP_OFF_POINT', 'failure': 'ABORT'}, remapping = {'dropOffStagingPose': 'sm_data3'})
smach.StateMachine.add('MOVE_TO_DROP_OFF_POINT',
MoveToDropOffPoint(self.davinciArm),
transitions={'success':'RELEASE_GRIPPERS', 'failure': 'ABORT'}, remapping = {'dropOffPose':'sm_data4'})
smach.StateMachine.add('RELEASE_GRIPPERS',
ReleaseGripper(self.davinciArm),
transitions={'success':'CHECK_DROP_OFF', 'failure': 'RELEASE_GRIPPERS'}, remapping = {'dropOffPose':'sm_data4'})
smach.StateMachine.add('CHECK_DROP_OFF',
CheckDropOff(self.davinciArm),
transitions={'stillLooping': 'HOME_POSITION', 'success':'SUCCESS', 'failure': 'ABORT'})
smach.StateMachine.add('ABORT', Abort(self.davinciArm), transitions={'failure': 'FAILURE'})
def execute(self, parent_ud=smach.UserData()):
"""Run the state machine on entry to this state.
This will set the "closed" flag and spin up the execute thread. Once
this flag has been set, it will prevent more states from being added to
the state machine.
"""
# This will prevent preempts from getting propagated to non-existent children
with self._state_transitioning_lock:
# Check state consistency
try:
self.check_consistency()
except (smach.InvalidStateError, smach.InvalidTransitionError):
smach.logerr("Container consistency check failed.")
return None
# Set running flag
self._is_running = True
# Initialize preempt state
self._preempted_label = None
self._preempted_state = None
# Set initial state
self._set_current_state(self._initial_state_label)
# Copy input keys
self._copy_input_keys(parent_ud, self.userdata)
# Spew some info
smach.loginfo(
"State machine starting in initial state '%s' with userdata: \n\t%s"
% (self._current_label, str(self.userdata.keys()))
)
# Call start callbacks
self.call_start_cbs()
# Initialize container outcome
container_outcome = None
# Step through state machine
while container_outcome is None and self._is_running and not smach.is_shutdown():
# Update the state machine
container_outcome = self._update_once()
# Copy output keys
self._copy_output_keys(self.userdata, parent_ud)
# We're no longer running
self._is_running = False
return container_outcome
def _state_runner(self, label):
"""Runs the states in parallel threads."""
# Wait until all threads are ready to start before beginnging
self._ready_event.wait()
self.call_transition_cbs()
# Execute child state
try:
self._child_outcomes[label] = self._states[label].execute(
smach.Remapper(
self.userdata,
self._states[label].get_registered_input_keys(),
self._states[label].get_registered_output_keys(),
self._remappings[label],
)
)
except:
self._user_code_exception = True
with self._done_cond:
self._done_cond.notify_all()
raise smach.InvalidStateError(("Could not execute child state '%s': " % label) + traceback.format_exc())
# Make sure the child returned an outcome
if self._child_outcomes[label] is None:
raise smach.InvalidStateError("Concurrent state '%s' returned no outcome on termination." % label)
else:
smach.loginfo(
"Concurrent state '%s' returned outcome '%s' on termination." % (label, self._child_outcomes[label])
)
# Check if all of the states have completed
with self._done_cond:
# initialize preemption flag
preempt_others = False
# Call transition cb's
self.call_transition_cbs()
# Call child termination cb if it's defined
if self._child_termination_cb:
try:
preempt_others = self._child_termination_cb(self._child_outcomes)
except:
raise smach.InvalidUserCodeError(
"Could not execute child termination callback: " + traceback.format_exc()
)
# Notify the container to terminate (and preempt other states if neceesary)
if preempt_others or all([o is not None for o in self._child_outcomes.values()]):
self._done_cond.notify_all()
def _set_current_state(self, state_label):
if type(state_label) == list():
state_label = state_label[0]
if state_label is not None:
# Store the current label and states
smach.loginfo(state_label)
self._current_label = state_label
self._current_state = self._states[state_label]
self._current_transitions = self._transitions[state_label]
self._current_outcome = None
else:
# Store the current label and states
self._current_label = None
self._current_state = None
self._current_transitions = None
self._current_outcome = None
def _set_current_state(self, state_label):
if state_label is not None:
smach.loginfo(self._states.keys())
# Store the current label and states
self._current_label = state_label
self._current_state = self._states[state_label]
self._current_outcome = None
#if type(self._current_state) == smach.StateMachineRL:
#self.state_label = self._current_state.state_label
# else:
# self.state_label = None
else:
# Store the current label and states
self._current_label = None
self._current_state = None
self._current_outcome = None
def _set_current_state(self, state_label):
if type(state_label) == list():
state_label = state_label[0]
if state_label is not None:
# Store the current label and states
smach.loginfo(state_label)
self._current_label = state_label
self._current_state = self._states[state_label]
self._current_transitions = self._transitions[state_label]
self._current_outcome = None
else:
# Store the current label and states
self._current_label = None
self._current_state = None
self._current_transitions = None
self._current_outcome = None
def _set_current_state(self, state_label): if state_label is not None: smach.loginfo(self._states.keys()) # Store the current label and states self._current_label = state_label self._current_state = self._states[state_label] self._current_outcome = None #if type(self._current_state) == smach.StateMachineRL: #self.state_label = self._current_state.state_label # else: # self.state_label = None else: # Store the current label and states self._current_label = None self._current_state = None self._current_outcome = None
def execute(self, userdata):
for input_key in self._input_keys:
smach.loginfo('Userdata input key \'{}\' BEFORE callback execution: {}'.format(input_key, userdata[input_key]))
# Call callbacks
for (cb, ik, ok) in zip(self._cbs,
self._cb_input_keys,
self._cb_output_keys):
# Call callback with limited userdata
try:
cb_outcome = cb(self, smach.Remapper(userdata,ik,ok,{}))
except:
cb_outcome = cb(smach.Remapper(userdata,ik,ok,{}))
for input_key in self._input_keys:
smach.loginfo('Userdata input key \'{}\' AFTER callback execution: {}'.format(input_key, userdata[input_key]))
return 'succeeded'
def add_learner(self, label, container):
self.container = container
rl_states = list()
self.find_keys(rl_states, self._states)
rl_states.append((label, self))
smach.loginfo(rl_states)
for (l, s) in rl_states:
learner.add_state_actions(l, s._states.keys())
if s.state_label != None:
self.multi_used_sm = True
# temp = s.state_label
# s.state_label = list()
# s.state_label.append(temp)
#if type(s.state_label) == list():
#s.state_label.append(l)
#s.state_label = l
for (l, s) in rl_states:
smach.loginfo(s.state_label)
#learner.add_state_actions(label, keys)
self.state_label = label
self.initial_state = label
def add_learner(self, label, container): self.container = container rl_states = list() self.find_keys(rl_states, self._states) rl_states.append((label,self)) smach.loginfo(rl_states) for (l,s) in rl_states: learner.add_state_actions(l, s._states.keys()) if s.state_label != None: self.multi_used_sm = True # temp = s.state_label # s.state_label = list() # s.state_label.append(temp) #if type(s.state_label) == list(): #s.state_label.append(l) #s.state_label = l for (l,s) in rl_states: smach.loginfo(s.state_label) #learner.add_state_actions(label, keys) self.state_label = label self.initial_state = label
def main():
# print "Started main"
# smach.loginfo("Starting main...")
# # traj = get_full_traj()
# traj = (1, 1)
# print "Loaded traj"
# dummy_left_arm = None
# right_arm = MasterClass(traj[1], dummy_left_arm)
# davinciArmLeft = RavenArm(raven_constants.Arm.Left)
# davinciArmLeft.start()
# left_arm = Follower(traj[0], davinciArmLeft)
# print "Follower started"
# print "Master created"
# right_arm.run()
print "Started main"
smach.loginfo("Starting main...")
traj = get_full_traj()
# traj = (1, 1)
print "Loaded traj"
master = MasterClass(traj)
print "Master created"
master.run()
def request_preempt(self):
smach.loginfo("Preempt requested on iterator")
smach.State.request_preempt(self)
def _update_once(self):
"""Method that updates the state machine once.
This checks if the current state is ready to transition, if so, it
requests the outcome of the current state, and then extracts the next state
label from the current state's transition dictionary, and then transitions
to the next state.
"""
outcome = None
transition_target = None
last_state_label = self._current_label
# Make sure the state exists
if self._current_label not in self._states:
raise smach.InvalidStateError("State '%s' does not exist. Available states are: %s" %
(self._current_label, list(self._states.keys())))
# Check if a preempt was requested before or while the last state was running
if self.preempt_requested():
smach.loginfo("Preempt requested on state machine before executing the next state.")
# We were preempted
if self._preempted_state is not None:
# We were preempted while the last state was running
if self._preempted_state.preempt_requested():
smach.loginfo("Last state '%s' did not service preempt. Preempting next state '%s' before executing..." % (self._preempted_label, self._current_label))
# The flag was not reset, so we need to keep preempting
# (this will reset the current preempt)
self._preempt_current_state()
else:
# The flag was reset, so the container can reset
self._preempt_requested = False
self._preempted_state = None
else:
# We were preempted after the last state was running
# So we should preempt this state before we execute it
self._preempt_current_state()
# Execute the state
try:
self._state_transitioning_lock.release()
outcome = self._current_state.execute(
smach.Remapper(
self.userdata,
self._current_state.get_registered_input_keys(),
self._current_state.get_registered_output_keys(),
self._remappings[self._current_label]))
except smach.InvalidUserCodeError as ex:
smach.logerr("State '%s' failed to execute." % self._current_label)
raise ex
except:
raise smach.InvalidUserCodeError("Could not execute state '%s' of type '%s': " %
(self._current_label, self._current_state)
+ traceback.format_exc())
finally:
self._state_transitioning_lock.acquire()
# Check if outcome was a potential outcome for this type of state
if outcome not in self._current_state.get_registered_outcomes():
raise smach.InvalidTransitionError(
"Attempted to return outcome '%s' from state '%s' of"
" type '%s' which only has registered outcomes: %s" %
(outcome,
self._current_label,
self._current_state,
self._current_state.get_registered_outcomes()))
# Check if this outcome is actually mapped to any target
if outcome not in self._current_transitions:
raise smach.InvalidTransitionError("Outcome '%s' of state '%s' is not bound to any transition target. Bound transitions include: %s" %
(str(outcome), str(self._current_label), str(self._current_transitions)))
# Set the transition target
transition_target = self._current_transitions[outcome]
# Check if the transition target is a state in this state machine, or an outcome of this state machine
if (isinstance(transition_target, list) and set(transition_target).intersection(self._states)) or (isinstance(transition_target, str) and transition_target in self._states):
# Set the new state
self._set_current_state(transition_target)
# Spew some info
smach.loginfo("State machine transitioning '%s':'%s'-->'%s'" %
(last_state_label, outcome, transition_target))
if type(self._states[transition_target] == smach.StateMachineRL):
self._states[transition_target].state_label = transition_target
if 'reward' in self.userdata:
reward = self.userdata['reward']
self.publisher.update_rl(last_state_label, -reward, last_state_label, self.num)
# Call transition callbacks
self.call_transition_cbs()
else:
# This is a terminal state
self.publisher.update_rl('END', 0, 'END', self.num)
if self._preempt_requested and self._preempted_state is not None:
if not self._current_state.preempt_requested():
self.service_preempt()
if transition_target not in self.get_registered_outcomes():
# This is a container outcome that will fall through
transition_target = outcome
if transition_target in self.get_registered_outcomes():
# The transition target is an outcome of the state machine
self._set_current_state(None)
# Spew some info
smach.loginfo("State machine terminating '%s':'%s':'%s'" %
(last_state_label, outcome, transition_target))
# Call termination callbacks
self.call_termination_cbs([last_state_label],transition_target)
return transition_target
else:
raise smach.InvalidTransitionError("Outcome '%s' of state '%s' with transition target '%s' is neither a registered state nor a registered container outcome." %
(outcome, self._current_label, transition_target))
return None
def execute(self, parent_ud=smach.UserData()):
"""Run the state machine on entry to this state.
This will set the "closed" flag and spin up the execute thread. Once
this flag has been set, it will prevent more states from being added to
the state machine.
"""
# This will prevent preempts from getting propagated to non-existent children
with self._state_transitioning_lock:
# Check state consistency
try:
self.check_consistency()
except (smach.InvalidStateError, smach.InvalidTransitionError):
smach.logerr("Container consistency check failed.")
return None
# Set running flag
self._is_running = True
# Initialize preempt state
self._preempted_label = None
self._preempted_state = None
# Set initial state
self._set_current_state(self._initial_state_label)
# Copy input keys
self._copy_input_keys(parent_ud, self.userdata)
# Spew some info
smach.loginfo(
"State machine starting in initial state '%s' with userdata: \n\t%s"
% (self._current_label, list(self.userdata.keys())))
# Call start callbacks
self.call_start_cbs()
# Initialize container outcome
container_outcome = None
# Step through state machine
while container_outcome is None and self._is_running and not smach.is_shutdown(
):
# Update the state machine
try:
container_outcome = self._update_once()
except Exception as ex:
# Save the coverage information
if 'SSCOV_FILE' in os.environ:
covbasename = os.environ['SSCOV_FILE']
else:
covbasename = '.scov'
# Determine if suffixes are required
if StateMachine.cov_instance_counter == 1:
covsuffix = ''
else:
covsuffix = '_' + str(self.cov_id)
with open(covbasename + covsuffix, 'w') as covfile:
pickle.dump(self.cov_states, covfile)
with open('.ERRORS_' + covbasename + covsuffix, 'w') as ef:
ef.write(str(ex))
raise
# Copy output keys
self._copy_output_keys(self.userdata, parent_ud)
# We're no longer running
self._is_running = False
# Save the coverage information
if 'SSCOV_FILE' in os.environ:
covbasename = os.environ['SSCOV_FILE']
else:
covbasename = '.scov'
# Determine if suffixes are required
if StateMachine.cov_instance_counter == 1:
covsuffix = ''
else:
covsuffix = '_' + str(self.cov_id)
with open(covbasename + covsuffix, 'w') as covfile:
pickle.dump(self.cov_states, covfile)
return container_outcome
def execute(self, parent_ud=smach.UserData()):
"""Run the state machine on entry to this state.
This will set the "closed" flag and spin up the execute thread. Once
this flag has been set, it will prevent more states from being added to
the state machine.
"""
# This will prevent preempts from getting propagated to non-existent children
with self._state_transitioning_lock:
# Check state consistency
try:
self.check_consistency()
except (smach.InvalidStateError, smach.InvalidTransitionError):
smach.logerr("Container consistency check failed.")
return None
# Set running flag
self._is_running = True
# Initialize preempt state
self._preempted_label = None
self._preempted_state = None
# Set initial state
self._set_current_state(self._initial_state_label)
# Copy input keys
self._copy_input_keys(parent_ud, self.userdata)
# Spew some info
smach.loginfo(
"State machine starting in initial state '%s' with userdata: \n\t%s"
% (self._current_label, list(self.userdata.keys())))
# Call start callbacks
self.call_start_cbs()
# Initialize container outcome
container_outcome = None
## Copy the datamodel's value into the userData
for data in self._datamodel:
self.userdata[data] = self._datamodel[data]
## Do the <onentry>
if (self._onEntry is not None):
try:
self._onEntry.execute(self.userdata)
except Exception as ex:
rospy.logerr('%s::onEntry::execute() raised | %s' %
(self.__class__.__name__, str(ex)))
return "preempt"
# Step through state machine
while container_outcome is None and self._is_running and not smach.is_shutdown(
):
# Update the state machine
if (self._pause):
self._tree_view_pause_state(self._current_label)
cpt = 30
while (self._pause):
if (cpt >= 30):
cpt = 0
rospy.logwarn(
"[SSM] : Smart State Machine is paused")
rospy.logwarn("[SSM] : Next state executed is : " +
self._current_label)
cpt = cpt + 1
rospy.sleep(0.1)
if (self._preempt_pause):
self._tree_view_disable_state(self._current_label)
return "preempt"
container_outcome = self._update_once()
## Do the <onexit>
if (self._onExit is not None):
try:
container_outcome = self._onExit.execute(
self.userdata, container_outcome)
except Exception as ex:
rospy.logerr('%s::onExit::execute() raised | %s' %
(self.__class__.__name__, str(ex)))
return "preempt"
# Copy output keys
self._copy_output_keys(self.userdata, parent_ud)
# We're no longer running
self._is_running = False
return container_outcome
def setup_state_machine(self, traj, left_arm):
smach.loginfo("Initializing state machine")
rospy.sleep(1)
print "Setup SM "
with self.state_machine:
# ------ Phase 1 -----
smach.StateMachine.add('START',
Start(self.davinciArmRight),
transitions={'success':'DETECT_CIRCLE'})
smach.StateMachine.add('DETECT_CIRCLE',
DetectCircle(self.davinciArmRight),
transitions={'success':'WARP'})
smach.StateMachine.add('WARP',
Warp(self.davinciArmRight, traj, left_arm),
transitions={'success':'GRASP_GAUZE'}, remapping ={'new_traj_R':'sm_data1'})
smach.StateMachine.add('GRASP_GAUZE',
GraspGauze(self.davinciArmRight, traj, left_arm),
transitions={'success':'CHECK_GRASP'}, remapping ={'new_traj_R':'sm_data1'})
smach.StateMachine.add('CHECK_GRASP',
CheckGrasp(self.davinciArmRight),
transitions={'success':'EXECUTE_NOTCH_CUT'})
# smach.StateMachine.add('CHECK_GRASP',
# CheckGrasp(self.davinciArmRight),
# transitions={'success':'EXECUTE_NOTCH_CUT', 'failure': 'WARP_GRASP'},)
# smach.StateMachine.add('CHECK_GRASP',
# CheckGrasp(self.davinciArmRight),
# transitions={'success':'EXECUTE_NOTCH_CUT', 'failure': 'WARP_GRASP'},)
# smach.StateMachine.add('WARP_GRASP',
# WarpGrasp(self.davinciArmRight, traj, left_arm),
# transitions={'success':'EXECUTE_REGRASP'})
# smach.StateMachine.add('EXECUTE_REGRASP',
# ExecuteRegrasp(self.davinciArmRight),
# transitions={'success':'CHECK_GRASP'})
smach.StateMachine.add('EXECUTE_NOTCH_CUT',
ExecuteNotchCut(self.davinciArmRight, traj, left_arm),
transitions={'success':'CHECK_NOTCH'}, remapping ={'new_traj_R':'sm_data1'})
smach.StateMachine.add('CHECK_NOTCH',
CheckNotch(self.davinciArmRight),
transitions={'success':'EXECUTE_PARTIAL_TRAJ_2', 'failure':'EXECUTE_NOTCH_CUT'})
# ------ Phase 2 -----
smach.StateMachine.add('EXECUTE_PARTIAL_TRAJ_2',
ExecutePartialTraj2(self.davinciArmRight, traj, left_arm),
transitions={'complete':'TRANSFER'}, remapping ={'new_traj_R':'sm_data1'})
smach.StateMachine.add('TRANSFER',
PhaseTransfer(self.davinciArmRight, traj, left_arm),
transitions={'success':'EXECUTE_PARTIAL_TRAJ_3'}, remapping ={'new_traj_R':'sm_data1'})
# smach.StateMachine.add('EXECUTE_PARTIAL_TRAJ_2',
# ExecutePartialTraj2(self.davinciArmRight, traj, left_arm),
# transitions={'looping':'CHECK_POSITION_2', 'complete':'EXECUTE_PARTIAL_TRAJ_3'})
# smach.StateMachine.add('CHECK_POSITION_2',
# CheckPostion2(self.davinciArmRight),
# transitions={'success':'EXECUTE_PARTIAL_TRAJ_2', 'above': 'WARP_ABOVE_2', 'below': 'WARP_BELOW_2'})
# smach.StateMachine.add('WARP_ABOVE_2',
# WarpAbove2(self.davinciArmRight),
# transitions={'success':'MOVE_ABOVE_2'})
# smach.StateMachine.add('MOVE_ABOVE_2',
# MoveAbove2(self.davinciArmRight),
# transitions={'success':'CHECK_POSITION_2'})
# smach.StateMachine.add('WARP_BELOW_2',
# WarpBelow2(self.davinciArmRight),
# transitions={'success':'MOVE_BELOW_2'})
# smach.StateMachine.add('MOVE_BELOW_2',
# MoveBelow2(self.davinciArmRight),
# transitions={'success':'CHECK_POSITION_2'})
# ------ Phase 3 -----
smach.StateMachine.add('EXECUTE_PARTIAL_TRAJ_3',
ExecutePartialTraj3(self.davinciArmRight, traj, left_arm),
transitions={'abridged_state_machine':'SUCCESS'}, remapping ={'new_traj_R':'sm_data1'})
def execute(self, parent_ud=smach.UserData()):
"""Overridden execute method.
This starts all the threads.
"""
# Clear the ready event
self._ready_event.clear()
# Reset child outcomes
self._child_outcomes = {}
# Copy input keys
self._copy_input_keys(parent_ud, self.userdata)
# Spew some info
smach.loginfo("Concurrence starting with userdata: \n\t%s" % (str(list(self.userdata.keys()))))
# Call start callbacks
self.call_start_cbs()
# Create all the threads
for (label, state) in ((k, self._states[k]) for k in self._states):
# Initialize child outcomes
self._child_outcomes[label] = None
self._threads[label] = threading.Thread(
name="concurrent_split:" + label, target=self._state_runner, args=(label,)
)
# Launch threads
for thread in self._threads.values():
thread.start()
# Wait for done notification
self._done_cond.acquire()
# Notify all threads ready to go
self._ready_event.set()
# Wait for a done notification from a thread
self._done_cond.wait()
self._done_cond.release()
# Preempt any running states
smach.logdebug("SMACH Concurrence preempting running states.")
for label in self._states:
if self._child_outcomes[label] == None:
self._states[label].request_preempt()
# Wait for all states to terminate
while not smach.is_shutdown():
if all([not t.isAlive() for t in self._threads.values()]):
break
self._done_cond.acquire()
self._done_cond.wait(0.1)
self._done_cond.release()
# Check for user code exception
if self._user_code_exception:
self._user_code_exception = False
raise smach.InvalidStateError("A concurrent state raised an exception during execution.")
# Check for preempt
if self.preempt_requested():
# initialized serviced flag
children_preempts_serviced = True
# Service this preempt if
for (label, state) in ((k, self._states[k]) for k in self._states):
if state.preempt_requested():
# Reset the flag
children_preempts_serviced = False
# Complain
smach.logwarn("State '%s' in concurrence did not service preempt." % label)
# Recall the preempt if it hasn't been serviced
state.recall_preempt()
if children_preempts_serviced:
smach.loginfo("Concurrence serviced preempt.")
self.service_preempt()
# Spew some debyg info
smach.loginfo("Concurrent Outcomes: " + str(self._child_outcomes))
# Initialize the outcome
outcome = self._default_outcome
# Determine the outcome from the outcome map
smach.logdebug("SMACH Concurrence determining contained state outcomes.")
for (container_outcome, outcomes) in ((k, self._outcome_map[k]) for k in self._outcome_map):
if all([self._child_outcomes[label] == outcomes[label] for label in outcomes]):
smach.logdebug("Terminating concurrent split with mapped outcome.")
outcome = container_outcome
# Check outcome callback
if self._outcome_cb:
try:
cb_outcome = self._outcome_cb(copy.copy(self._child_outcomes))
if cb_outcome:
if cb_outcome == str(cb_outcome):
outcome = cb_outcome
else:
smach.logerr(
"Outcome callback returned a non-string '%s', using default outcome '%s'"
% (str(cb_outcome), self._default_outcome)
)
else:
smach.logwarn("Outcome callback returned None, using outcome '%s'" % outcome)
except:
raise smach.InvalidUserCodeError(
("Could not execute outcome callback '%s': " % self._outcome_cb) + traceback.format_exc()
)
# Cleanup
self._threads = {}
self._child_outcomes = {}
# Call termination callbacks
self.call_termination_cbs(list(self._states.keys()), outcome)
# Copy output keys
self._copy_output_keys(self.userdata, parent_ud)
return outcome
def execute(self, parent_ud=smach.UserData()):
"""Run the state machine on entry to this state.
This will set the "closed" flag and spin up the execute thread. Once
this flag has been set, it will prevent more states from being added to
the state machine.
"""
#smach.loginfo(learner.q_table)
smach.loginfo(learner.q_table_additive_states)
# Initialize preempt state
self._preempted_label = None
self._preempted_state = None
current_label = self.state_label
# Set initial state. TODO:Do this using RL.
#val = random.randrange(0,len(self._states),1)
label_transition = learner.get_action(self.state_label)
smach.loginfo('CONTAINER LABEL: ' + str(self.state_label) +
' ACTION LABEL: ' + label_transition)
#smach.loginfo(val)
#label = self._labels[val]
self._set_current_state(label_transition)
#self._current_state.state_label = label_transition
next_label = label_transition
smach.loginfo('CONTAINER LABEL AFTER TRANSITION: ' +
str(label_transition))
self._states[label_transition].state_label = label_transition
#If the next-state is an RL-State, there is no reward until that state is executed. Add the current state to be updated
#by the next-states reward.
if next_label in learner.q_table.keys():
learner.queue_state_update(current_label, label_transition)
#smach.loginfo(self._states['START_NAV'].state_label)
# Copy input keys
self._copy_input_keys(parent_ud, self.userdata)
execution_outcome = self._current_state.execute((smach.Remapper(
self.userdata,
self._states[label_transition].get_registered_input_keys(),
self._states[label_transition].get_registered_output_keys(),
self._remappings[label_transition])))
if 'reward' in self.userdata:
reward = self.userdata['reward']
self.publisher.update_rl(current_label, -reward, label_transition,
self.container.num)
#learner.update(next_label, label_transition, current_label, -reward)
#learner.update_queued_states(next_label, -reward)
# Spew some info
#smach.loginfo("RL Stuff '%s' with userdata: \n\t%s" %
# (self._current_label, list(self.userdata.keys())))
# Copy output keys
self._copy_output_keys(self.userdata, parent_ud)
# We're no longer running
self._is_running = False
found = False
for (container_outcome, outcomes) in ((k, self._outcome_map[k])
for k in self._outcome_map):
if execution_outcome in outcomes:
found = True
break
if found == False:
smach.loginfo("RL BAD OUTCOME %s", execution_outcome)
smach.loginfo('CONTAINER OUTCOME: ' + container_outcome +
' EXECUTION OUTCOME: ' + execution_outcome)
return container_outcome
def execute(self, parent_ud = smach.UserData()):
"""Run the state machine on entry to this state.
This will set the "closed" flag and spin up the execute thread. Once
this flag has been set, it will prevent more states from being added to
the state machine.
"""
#smach.loginfo(learner.q_table)
smach.loginfo(learner.q_table_additive_states)
# Initialize preempt state
self._preempted_label = None
self._preempted_state = None
current_label = self.state_label
# Set initial state. TODO:Do this using RL.
#val = random.randrange(0,len(self._states),1)
label_transition = learner.get_action(self.state_label)
smach.loginfo('CONTAINER LABEL: ' + str(self.state_label) + ' ACTION LABEL: ' + label_transition)
#smach.loginfo(val)
#label = self._labels[val]
self._set_current_state(label_transition)
#self._current_state.state_label = label_transition
next_label = label_transition
smach.loginfo('CONTAINER LABEL AFTER TRANSITION: ' + str(label_transition))
self._states[label_transition].state_label = label_transition
#If the next-state is an RL-State, there is no reward until that state is executed. Add the current state to be updated
#by the next-states reward.
if next_label in learner.q_table.keys():
learner.queue_state_update(current_label, label_transition)
#smach.loginfo(self._states['START_NAV'].state_label)
# Copy input keys
self._copy_input_keys(parent_ud, self.userdata)
execution_outcome = self._current_state.execute((smach.Remapper(
self.userdata,
self._states[label_transition].get_registered_input_keys(),
self._states[label_transition].get_registered_output_keys(),
self._remappings[label_transition])))
if 'reward' in self.userdata:
reward = self.userdata['reward']
self.publisher.update_rl(current_label, -reward, label_transition, self.container.num)
#learner.update(next_label, label_transition, current_label, -reward)
#learner.update_queued_states(next_label, -reward)
# Spew some info
#smach.loginfo("RL Stuff '%s' with userdata: \n\t%s" %
# (self._current_label, list(self.userdata.keys())))
# Copy output keys
self._copy_output_keys(self.userdata, parent_ud)
# We're no longer running
self._is_running = False
found = False
for (container_outcome, outcomes) in ((k,self._outcome_map[k]) for k in self._outcome_map):
if execution_outcome in outcomes:
found = True
break
if found == False:
smach.loginfo("RL BAD OUTCOME %s", execution_outcome)
smach.loginfo('CONTAINER OUTCOME: ' + container_outcome + ' EXECUTION OUTCOME: ' + execution_outcome)
return container_outcome
def execute(self, parent_ud = smach.UserData()):
"""Run the state machine on entry to this state.
This will set the "closed" flag and spin up the execute thread. Once
this flag has been set, it will prevent more states from being added to
the state machine.
"""
# This will prevent preempts from getting propagated to non-existent children
with self._state_transitioning_lock:
# Check state consistency
try:
self.check_consistency()
except (smach.InvalidStateError, smach.InvalidTransitionError):
smach.logerr("Container consistency check failed.")
return None
# Set running flag
self._is_running = True
# Initialize preempt state
self._preempted_label = None
self._preempted_state = None
# Set initial state
self._set_current_state(self._initial_state_label)
# Copy input keys
self._copy_input_keys(parent_ud, self.userdata)
# Spew some info
smach.loginfo("State machine starting in initial state '%s' with userdata: \n\t%s" %
(self._current_label, list(self.userdata.keys())))
# Call start callbacks
self.call_start_cbs()
# Initialize container outcome
container_outcome = None
# Step through state machine
while container_outcome is None and self._is_running and not smach.is_shutdown():
# Update the state machine
try:
container_outcome = self._update_once()
except Exception as ex:
# Save the coverage information
if 'SSCOV_FILE' in os.environ:
covbasename = os.environ['SSCOV_FILE']
else:
covbasename = '.scov'
# Determine if suffixes are required
if StateMachine.cov_instance_counter == 1:
covsuffix = ''
else:
covsuffix = '_' + str(self.cov_id)
with open(covbasename + covsuffix, 'w') as covfile:
pickle.dump(self.cov_states, covfile)
with open('.ERRORS_' + covbasename + covsuffix, 'w') as ef:
ef.write(str(ex))
raise
# Copy output keys
self._copy_output_keys(self.userdata, parent_ud)
# We're no longer running
self._is_running = False
# Save the coverage information
if 'SSCOV_FILE' in os.environ:
covbasename = os.environ['SSCOV_FILE']
else:
covbasename = '.scov'
# Determine if suffixes are required
if StateMachine.cov_instance_counter == 1:
covsuffix = ''
else:
covsuffix = '_' + str(self.cov_id)
with open(covbasename + covsuffix, 'w') as covfile:
pickle.dump(self.cov_states, covfile)
return container_outcome
def execute(self, parent_ud=smach.UserData()):
"""Overridden execute method.
This starts all the threads.
"""
# Clear the ready event
self._ready_event.clear()
# Reset child outcomes
self._child_outcomes = {}
# Copy input keys
self._copy_input_keys(parent_ud, self.userdata)
## Copy the datamodel's value into the userData
for data in self._datamodel:
if (self._datamodel[data] != ""):
self.userdata[data] = self._datamodel[data]
## Do the <onentry>
if (self._onEntry is not None):
try:
self._onEntry.execute(self.userdata)
except Exception as ex:
rospy.logerr('%s::onEntry::execute() raised | %s' %
(self.__class__.__name__, str(ex)))
return "preempt"
# Spew some info
smach.loginfo("Concurrence starting with userdata: \n\t%s" %
(str(list(self.userdata.keys()))))
# Call start callbacks
self.call_start_cbs()
# Create all the threads
for (label, state) in ((k, self._states[k]) for k in self._states):
# Initialize child outcomes
self._child_outcomes[label] = None
self._threads[label] = threading.Thread(name='concurrent_split:' +
label,
target=self._state_runner,
args=(label, ))
# Launch threads
for thread in self._threads.values():
thread.start()
# Wait for done notification
self._done_cond.acquire()
# Notify all threads ready to go
self._ready_event.set()
# Wait for a done notification from a thread
self._done_cond.wait()
self._done_cond.release()
# Preempt any running states
smach.logdebug("SMACH Concurrence preempting running states.")
for label in self._states:
if self._child_outcomes[label] == None:
self._states[label].request_preempt()
# Wait for all states to terminate
while not smach.is_shutdown():
if all([not t.isAlive() for t in self._threads.values()]):
break
self._done_cond.acquire()
self._done_cond.wait(0.1)
self._done_cond.release()
# Check for user code exception
if self._user_code_exception:
self._user_code_exception = False
raise smach.InvalidStateError(
"A concurrent state raised an exception during execution.")
# Check for preempt
if self.preempt_requested():
# initialized serviced flag
children_preempts_serviced = True
# Service this preempt if
for (label, state) in ((k, self._states[k]) for k in self._states):
if state.preempt_requested():
# Reset the flag
children_preempts_serviced = False
# Complain
smach.logwarn(
"State '%s' in concurrence did not service preempt." %
label)
# Recall the preempt if it hasn't been serviced
state.recall_preempt()
if children_preempts_serviced:
smach.loginfo("Concurrence serviced preempt.")
self.service_preempt()
# Spew some debyg info
smach.loginfo("Concurrent Outcomes: " + str(self._child_outcomes))
# Initialize the outcome
outcome = self._default_outcome
# Determine the outcome from the outcome map
smach.logdebug(
"SMACH Concurrence determining contained state outcomes.")
for (container_outcome, outcomes) in ((k, self._outcome_map[k])
for k in self._outcome_map):
if all([
self._child_outcomes[label] == outcomes[label]
for label in outcomes
]):
smach.logdebug(
"Terminating concurrent split with mapped outcome.")
outcome = container_outcome
# Check outcome callback
if self._outcome_cb:
try:
cb_outcome = self._outcome_cb(copy.copy(self._child_outcomes))
if cb_outcome:
if cb_outcome == str(cb_outcome):
outcome = cb_outcome
else:
smach.logerr(
"Outcome callback returned a non-string '%s', using default outcome '%s'"
% (str(cb_outcome), self._default_outcome))
else:
smach.logwarn(
"Outcome callback returned None, using outcome '%s'" %
outcome)
except:
raise smach.InvalidUserCodeError(
("Could not execute outcome callback '%s': " %
self._outcome_cb) + traceback.format_exc())
# Cleanup
self._threads = {}
self._child_outcomes = {}
# Call termination callbacks
self.call_termination_cbs(list(self._states.keys()), outcome)
## Do the <onexit>
if (self._onExit is not None):
try:
outcome = self._onExit.execute(self.userdata, outcome)
except Exception as ex:
rospy.logerr('%s::onExit::execute() raised | %s' %
(self.__class__.__name__, str(ex)))
return "preempt"
# Copy output keys
self._copy_output_keys(self.userdata, parent_ud)
return outcome
def execute(self, userdata):
smach.loginfo('Executing state {}'.format(self._name))
smach.loginfo('Returning {}'.format(self._outcome))
return self._outcome
def main():
smach.loginfo("Starting main...")
master = MasterClass()
master.run()
def setup_state_machine(self):
smach.loginfo("Initializing state machine")
rospy.sleep(1)
with self.state_machine:
smach.StateMachine.add(
'START',
Start(self.davinciArmLeft, self.davinciArmRight),
transitions={'success': 'IDENTIFY_GRASP_POINT'})
smach.StateMachine.add('IDENTIFY_GRASP_POINT',
IdentifyGraspPoint(self.davinciArmLeft,
self.davinciArmRight),
transitions={
'success':
'PLAN_TRAJ_TO_GRASP_POINT_RIGHT',
'failure': 'IDENTIFY_GRASP_POINT',
'complete': 'SUCCESS'
},
remapping={
'graspPoint': 'sm_data1',
'counter': 'sm_data2',
'maxDebris': 'sm_data3'
})
smach.StateMachine.add('PLAN_TRAJ_TO_GRASP_POINT_RIGHT',
PlanTrajToGraspPointRight(
self.davinciArmLeft,
self.davinciArmRight),
transitions={
'success': 'MOVE_TO_PRE_GRASP_POINT',
'failure':
'PLAN_TRAJ_TO_GRASP_POINT_RIGHT'
})
smach.StateMachine.add('MOVE_TO_PRE_GRASP_POINT',
MoveToPreGraspPoint(self.davinciArmLeft,
self.davinciArmRight),
transitions={
'success': 'MOVE_TO_GRASP_POINT',
'failure': 'HOME_POSITION_RIGHT'
},
remapping={'graspPoint': 'sm_data1'})
smach.StateMachine.add('MOVE_TO_GRASP_POINT',
MoveToGraspPoint(self.davinciArmLeft,
self.davinciArmRight),
transitions={
'success': 'GRASP_GAK',
'failure': 'HOME_POSITION_RIGHT'
},
remapping={'graspPoint': 'sm_data1'})
smach.StateMachine.add('HOME_POSITION_RIGHT',
HomePositionRight(self.davinciArmLeft,
self.davinciArmRight),
transitions={
'success': 'IDENTIFY_GRASP_POINT',
'failure': 'HOME_POSITION_RIGHT'
})
smach.StateMachine.add('GRASP_GAK',
GraspGak(self.davinciArmLeft,
self.davinciArmRight),
transitions={'success': 'RETRACT_GAK'})
smach.StateMachine.add('RETRACT_GAK',
RetractGak(self.davinciArmLeft,
self.davinciArmRight),
transitions={'success': 'CHECK_GRASP'})
smach.StateMachine.add('CHECK_GRASP',
CheckGrasp(self.davinciArmLeft,
self.davinciArmRight),
transitions={
'success': 'IDENTIFY_CUT_POINT',
'failure': 'RELEASE_GRIPPERS_NO_GAK'
})
smach.StateMachine.add('RELEASE_GRIPPERS_NO_GAK',
ReleaseGrippersNoGak(
self.davinciArmLeft,
self.davinciArmRight),
transitions={
'success': 'HOME_POSITION_RIGHT',
'failure': 'RELEASE_GRIPPERS_NO_GAK'
})
smach.StateMachine.add('IDENTIFY_CUT_POINT',
IdentifyCutPoint(self.davinciArmLeft,
self.davinciArmRight),
transitions={
'success':
'PLAN_TRAJ_TO_PRE_CUT_POINT_LEFT',
'failure': 'IDENTIFY_CUT_POINT'
},
remapping={'cutPoint': 'sm_data4'})
smach.StateMachine.add('PLAN_TRAJ_TO_PRE_CUT_POINT_LEFT',
PlanTrajToPreCutPointLeft(
self.davinciArmLeft,
self.davinciArmRight),
transitions={
'success': 'MOVE_TO_PRE_CUT_POINT',
'failure':
'PLAN_TRAJ_TO_PRE_CUT_POINT_LEFT'
})
smach.StateMachine.add('MOVE_TO_PRE_CUT_POINT',
MoveToPreCutPoint(self.davinciArmLeft,
self.davinciArmRight),
transitions={
'success': 'CUTTING_ACTION',
'failure': 'HOME_POSITION_LEFT'
},
remapping={'cutPoint': 'sm_data4'})
smach.StateMachine.add('CUTTING_ACTION',
CuttingAction(self.davinciArmLeft,
self.davinciArmRight),
transitions={'success': 'CHECK_CUT'},
remapping={'cutPoint': 'sm_data4'})
smach.StateMachine.add('CHECK_CUT',
CheckCut(self.davinciArmLeft,
self.davinciArmRight),
transitions={
'success': 'CLEANING',
'failure': 'IDENTIFY_CUT_POINT'
})
smach.StateMachine.add('CLEANING',
Cleaning(self.davinciArmLeft,
self.davinciArmRight),
transitions={
'success': 'SUCCESS',
'loop': 'IDENTIFY_GRASP_POINT'
},
remapping={
'counter': 'sm_data2',
'maxDebris': 'sm_data3'
})
smach.StateMachine.add('HOME_POSITION_LEFT',
HomePositionLeft(self.davinciArmLeft,
self.davinciArmRight),
transitions={
'success': 'IDENTIFY_CUT_POINT',
'failure': 'ABORT'
})
smach.StateMachine.add('ABORT',
Abort(self.davinciArmLeft,
self.davinciArmRight),
transitions={'failure': 'FAILURE'})
def _update_once(self):
"""Method that updates the state machine once.
This checks if the current state is ready to transition, if so, it
requests the outcome of the current state, and then extracts the next state
label from the current state's transition dictionary, and then transitions
to the next state.
"""
outcome = None
transition_target = None
last_state_label = self._current_label
# Make sure the state exists
if self._current_label not in self._states:
raise smach.InvalidStateError(
"State '%s' does not exist. Available states are: %s" %
(self._current_label, list(self._states.keys())))
# Check if a preempt was requested before or while the last state was running
if self.preempt_requested():
smach.loginfo(
"Preempt requested on state machine before executing the next state."
)
# We were preempted
if self._preempted_state is not None:
# We were preempted while the last state was running
if self._preempted_state.preempt_requested():
smach.loginfo(
"Last state '%s' did not service preempt. Preempting next state '%s' before executing..."
% (self._preempted_label, self._current_label))
# The flag was not reset, so we need to keep preempting
# (this will reset the current preempt)
self._preempt_current_state()
else:
# The flag was reset, so the container can reset
self._preempt_requested = False
self._preempted_state = None
else:
# We were preempted after the last state was running
# So we sho if(self._preempt_requested):uld preempt this state before we execute it
self._preempt_current_state()
# Execute the state
self._tree_view_enable_state(self._current_label)
try:
self._state_transitioning_lock.release()
outcome = self._current_state.execute(
smach.Remapper(
self.userdata,
self._current_state.get_registered_input_keys(),
self._current_state.get_registered_output_keys(),
self._remappings[self._current_label]))
except smach.InvalidUserCodeError as ex:
smach.logerr("State '%s' failed to execute." % self._current_label)
raise ex
except:
raise smach.InvalidUserCodeError(
"Could not execute state '%s' of type '%s': " %
(self._current_label, self._current_state) +
traceback.format_exc())
finally:
self._state_transitioning_lock.acquire()
self._tree_view_disable_state(self._current_label)
# Check if outcome was a potential outcome for this type of state
if outcome not in self._current_state.get_registered_outcomes():
raise smach.InvalidTransitionError(
"Attempted to return outcome '%s' preempt_requestedfrom state '%s' of"
" type '%s' which only has registered outcomes: %s" %
(outcome, self._current_label, self._current_state,
self._current_state.get_registered_outcomes()))
# Check if this outcome is actually mapped to any target
if outcome not in self._current_transitions:
raise smach.InvalidTransitionError(
"Outcome '%s' of state '%s' is not bound to any transition target. Bound transitions include: %s"
% (str(outcome), str(
self._current_label), str(self._current_transitions)))
# Set the transition target
transition_target = self._current_transitions[outcome]
# Check if the transition target is a state in this state machine, or an outcome of this state machine
if transition_target in self._states:
# Set the new state
self._set_current_state(transition_target)
# Spew some info
smach.loginfo("State machine transitioning '%s':'%s'-->'%s'" %
(last_state_label, outcome, transition_target))
# Call transition callbacks
self.call_transition_cbs()
else:
# This is a terminal state
if self._preempt_requested and self._preempted_state is not None:
if not self._current_state.preempt_requested():
self.service_preempt()
if transition_target not in self.get_registered_outcomes():
# This is a container outcome that will fall through
transition_target = outcome
if transition_target in self.get_registered_outcomes():
# The transition target is an outcome of the state machine
self._set_current_state(None)
# Spew some info
smach.loginfo("State machine terminating '%s':'%s':'%s'" %
(last_state_label, outcome, transition_target))
# Call termination callbacks
self.call_termination_cbs([last_state_label],
transition_target)
return transition_target
else:
raise smach.InvalidTransitionError(
"Outcome '%s' of state '%s' with transition target '%s' is neither a registered state nor a registered container outcome."
% (outcome, self._current_label, transition_target))
return None
def main():
smach.loginfo("Starting main...")
master = MasterClass()
master.run()
