def build(self):
"""
Builds the mission behaviour
"""
# Build the autonomous state as concurrence between wiimote and measuring behaviour to allow user preemption
autonomous = smach.Concurrence(
outcomes=["exitAutomode", "aborted"],
default_outcome="exitAutomode",
outcome_map={
"exitAutomode": {"HMI": "preempted", "MEASURE": "preempted"},
"aborted": {"HMI": "preempted", "MEASURE": "aborted"},
},
child_termination_cb=onPreempt,
)
with autonomous:
smach.Concurrence.add("HMI", wii_states.interfaceState(self.hmi))
smach.Concurrence.add("MEASURE", measure_point.build(self.point_list))
# Build the top level mission control from the remote control state and the autonomous state
mission_control = smach.StateMachine(outcomes=["preempted", "aborted"])
with mission_control:
smach.StateMachine.add(
"REMOTE_CONTROL",
wii_states.remoteControlState(self.hmi),
transitions={"enterAutomode": "AUTO_MODE", "preempted": "preempted"},
)
smach.StateMachine.add(
"AUTO_MODE", autonomous, transitions={"exitAutomode": "REMOTE_CONTROL", "aborted": "REMOTE_CONTROL"}
)
return mission_control
def build(self):
# Build the autonomous state as concurrence between wiimote and measuring behaviour to allow user preemption
autonomous = smach.Concurrence(outcomes=['exitAutomode'],
default_outcome='exitAutomode',
outcome_map={
'exitAutomode': {
'HMI': 'preempted',
'MEASURE': 'preempted'
}
},
child_termination_cb=onPreempt)
with autonomous:
smach.Concurrence.add('HMI', wii_states.interfaceState(self.hmi))
smach.Concurrence.add('MEASURE', measure_point.build())
# Build the top level mission control from the remote control state and the autonomous state
mission_control = smach.StateMachine(outcomes=['preempted'])
with mission_control:
smach.StateMachine.add('REMOTE_CONTROL',
wii_states.remoteControlState(self.hmi),
transitions={
'enterAutomode': 'AUTO_MODE',
'preempted': 'preempted'
})
smach.StateMachine.add(
'AUTO_MODE',
autonomous,
transitions={'exitAutomode': 'REMOTE_CONTROL'})
return mission_control
def build(self):
# Build the autonomous state as concurrence between wiimote and measuring behaviour to allow user preemption
autonomous = smach.Concurrence( outcomes = ['exitAutomode'],
default_outcome = 'exitAutomode',
outcome_map = {'exitAutomode':{'HMI':'preempted','MEASURE':'preempted'}},
child_termination_cb = onPreempt)
with autonomous:
smach.Concurrence.add('HMI', wii_states.interfaceState(self.hmi))
smach.Concurrence.add('MEASURE', measure_point.build())
# Build the top level mission control from the remote control state and the autonomous state
mission_control = smach.StateMachine(outcomes=['preempted'])
with mission_control:
smach.StateMachine.add('REMOTE_CONTROL', wii_states.remoteControlState(self.hmi), transitions={'enterAutomode':'AUTO_MODE','preempted':'preempted'})
smach.StateMachine.add('AUTO_MODE', autonomous, transitions={'exitAutomode':'REMOTE_CONTROL'})
return mission_control
def build(self):
auto = self.build_row_nav()
autonomous = smach.Concurrence( outcomes = ['exitAutomode','aborted'],
default_outcome = 'exitAutomode',
outcome_map = {'exitAutomode':{'HMI':'preempted','ROWNAV':'preempted'},
'aborted':{'HMI':'preempted','ROWNAV':'aborted'}},
child_termination_cb = lambda ud: True )
with autonomous:
smach.Concurrence.add('HMI', wii_states.interfaceState(self.hmi))
smach.Concurrence.add('ROWNAV', auto)
# Build the top level mission control from the remote control state and the autonomous state
mission_control = smach.StateMachine(outcomes=['preempted','aborted'])
with mission_control:
smach.StateMachine.add('REMOTE_CONTROL', wii_states.remoteControlState(self.hmi), transitions={'enterAutomode':'AUTO_MODE','preempted':'preempted'})
smach.StateMachine.add('AUTO_MODE', autonomous, transitions={'exitAutomode':'REMOTE_CONTROL','aborted':'REMOTE_CONTROL'})
return mission_control
def build(self):
auto = self.build_row_nav()
autonomous = smach.Concurrence(outcomes=['exitAutomode', 'aborted'],
default_outcome='exitAutomode',
outcome_map={
'exitAutomode': {
'HMI': 'preempted',
'ROWNAV': 'preempted'
},
'aborted': {
'HMI': 'preempted',
'ROWNAV': 'aborted'
}
},
child_termination_cb=lambda ud: True)
with autonomous:
smach.Concurrence.add('HMI', wii_states.interfaceState(self.hmi))
smach.Concurrence.add('ROWNAV', auto)
# Build the top level mission control from the remote control state and the autonomous state
mission_control = smach.StateMachine(outcomes=['preempted', 'aborted'])
with mission_control:
smach.StateMachine.add('REMOTE_CONTROL',
wii_states.remoteControlState(self.hmi),
transitions={
'enterAutomode': 'AUTO_MODE',
'preempted': 'preempted'
})
smach.StateMachine.add('AUTO_MODE',
autonomous,
transitions={
'exitAutomode': 'REMOTE_CONTROL',
'aborted': 'REMOTE_CONTROL'
})
return mission_control
def build(self):
# Build concurrent route following and mine detection
mine_search = smach.Concurrence ( outcomes = ['mineDetected','preempted'],
default_outcome = 'preempted',
outcome_map = {'preempted':{'follow_route':'preempted'}, 'mineDetected':{'mine_detect':'invalid'}},
output_keys=['next_x','next_y'],
child_termination_cb = onPreempt)
with mine_search:
smach.Concurrence.add('follow_route', follow_route.build())
smach.Concurrence.add('mine_detect', smach_ros.MonitorState("/wads", Float64, mine_detect_cb))
# Build the demining task
demining = smach.StateMachine(outcomes=['success', 'preempted', 'aborted'])
with demining:
smach.StateMachine.add('mine_search', mine_search, transitions={'mineDetected':'mine_inspection'})
smach.StateMachine.add('mine_inspection', mine_simple_avoidance.build() , transitions={'inspectionDone':'mine_search'})
# Build the autonomous state as concurrence between wiimote and measuring behaviour to allow user preemption
autonomous = smach.Concurrence( outcomes = ['exitAutomode'],
default_outcome = 'exitAutomode',
outcome_map = {'exitAutomode':{'HMI':'preempted','demining':'preempted'}},
child_termination_cb = onPreempt)
with autonomous:
smach.Concurrence.add('HMI', wii_states.interfaceState(self.hmi))
smach.Concurrence.add('demining', demining)
# Build the top level mission control from the remote control state and the autonomous state
mission_control = smach.StateMachine(outcomes=['preempted'])
with mission_control:
smach.StateMachine.add('REMOTE_CONTROL', wii_states.remoteControlState(self.hmi), transitions={'enterAutomode':'AUTO_MODE','preempted':'preempted'})
smach.StateMachine.add('AUTO_MODE', autonomous, transitions={'exitAutomode':'REMOTE_CONTROL'})
return mission_control
def build(hmi):
behaviour = smach.StateMachine(outcomes=['preempted'])
with behaviour:
smach.StateMachine.add('REMOTE_CONTROL', wii_states.remoteControlState(hmi), transitions={'enterAutomode':'REMOTE_CONTROL','preempted':'preempted'})
return behaviour
def build(self):
# Build concurrent route following and mine detection
mine_search = smach.Concurrence(outcomes=['mineDetected', 'preempted'],
default_outcome='preempted',
outcome_map={
'preempted': {
'follow_route': 'preempted'
},
'mineDetected': {
'mine_detect': 'invalid'
}
},
output_keys=['next_x', 'next_y'],
child_termination_cb=onPreempt)
with mine_search:
smach.Concurrence.add('follow_route', follow_route.build())
smach.Concurrence.add(
'mine_detect',
smach_ros.MonitorState("/wads", Float64, mine_detect_cb))
# Build the demining task
demining = smach.StateMachine(
outcomes=['success', 'preempted', 'aborted'])
with demining:
smach.StateMachine.add(
'mine_search',
mine_search,
transitions={'mineDetected': 'mine_inspection'})
smach.StateMachine.add(
'mine_inspection',
mine_simple_avoidance.build(),
transitions={'inspectionDone': 'mine_search'})
# Build the autonomous state as concurrence between wiimote and measuring behaviour to allow user preemption
autonomous = smach.Concurrence(outcomes=['exitAutomode'],
default_outcome='exitAutomode',
outcome_map={
'exitAutomode': {
'HMI': 'preempted',
'demining': 'preempted'
}
},
child_termination_cb=onPreempt)
with autonomous:
smach.Concurrence.add('HMI', wii_states.interfaceState(self.hmi))
smach.Concurrence.add('demining', demining)
# Build the top level mission control from the remote control state and the autonomous state
mission_control = smach.StateMachine(outcomes=['preempted'])
with mission_control:
smach.StateMachine.add('REMOTE_CONTROL',
wii_states.remoteControlState(self.hmi),
transitions={
'enterAutomode': 'AUTO_MODE',
'preempted': 'preempted'
})
smach.StateMachine.add(
'AUTO_MODE',
autonomous,
transitions={'exitAutomode': 'REMOTE_CONTROL'})
return mission_control
def build(hmi):
behaviour = smach.StateMachine(outcomes=['preempted'])
with behaviour:
smach.StateMachine.add('REMOTE_CONTROL', wii_states.remoteControlState(hmi), transitions={'enterAutomode':'REMOTE_CONTROL','preempted':'preempted'})
return behaviour
