def GetAskWantTourStateMachine():
sm = smach.StateMachine(
outcomes=["want_tour", "dont_want_tour", "silence"])
with sm:
smach.StateMachine.add(
"reset_ask_want_tour_retried",
general_states.ResetRetryCounter("ask_want_tour_retry", 2),
transitions={"next": "decrease_and_test_ask_want_tour"},
remapping={"ask_want_tour_retry": "ask_want_tour_retry"})
sm.set_initial_state(["reset_ask_want_tour_retried"])
smach.StateMachine.add(
"decrease_and_test_ask_want_tour",
general_states.DecreaseAndTestRetry("ask_want_tour_retry"),
transitions={
"continue": "ask_want_tour",
"give_up": "silence"
},
remapping={"ask_want_tour_retry": "ask_want_tour_retry"})
smach.StateMachine.add("ask_want_tour",
AskWantTourState(),
transitions={
"want_tour": "want_tour",
"dont_want_tour": "dont_want_tour",
"silence": "decrease_and_test_ask_want_tour"
})
return sm
def GetAutoChargingStateMachine():
sm = smach.StateMachine(outcomes=[
"no_need_charge", "finished_charging", "already_charging", "interrupt",
"failed"
])
with sm:
smach.StateMachine.add("check_trigger_cmd",
wait_trigger_states.TriggerCmdState(
["prep_serve"]),
transitions={
"prep_serve": "interrupt",
"none": "test_already_charging"
})
sm.set_initial_state(["check_trigger_cmd"])
smach.StateMachine.add("test_already_charging",
TestBatteryIsChargingState(),
transitions={
"charging": "already_charging",
"not_charging": "decide_need_charging",
"unknown": "failed",
})
smach.StateMachine.add("decide_need_charging",
TestBatteryLevelState(),
transitions={
"full": "no_need_charge",
"normal": "no_need_charge",
"low": "go_dock_retry_reset",
"unknown": "failed",
})
smach.StateMachine.add("go_dock_retry_reset",
general_states.ResetRetryCounter(
"go_dock_retry", 3),
transitions={"next": "go_dock_retry_test"},
remapping={"go_dock_retry": "go_dock_retry"})
smach.StateMachine.add(
"go_dock_retry_test",
general_states.DecreaseAndTestRetry("go_dock_retry"),
transitions={
"continue": "go_dock",
"give_up": "failed"
},
remapping={"go_dock_retry": "go_dock_retry"})
smach.StateMachine.add("go_dock",
GoDockingState(),
transitions={
"done": "test_is_charging",
"failed": "go_dock_retry_test"
})
smach.StateMachine.add("test_is_charging",
TestBatteryIsChargingState(),
transitions={
"charging": "test_finished_charging",
"not_charging": "go_dock_retry_test",
"unknown": "failed"
},
remapping={"tour_point_id": "tour_point_id"})
smach.StateMachine.add("test_finished_charging",
TestBatteryLevelState(),
transitions={
"full": "finished_charging",
"normal": "wait_finish_charging",
"low": "wait_finish_charging",
"unknown": "failed"
},
remapping={"tour_point_id": "tour_point_id"})
smach.StateMachine.add("wait_finish_charging",
general_states.WaitTimeState(5),
transitions={"next": "test_finished_charging"})
return sm
def GetQuizStateMachine():
sm_quiz = smach.StateMachine(outcomes=["finished", "silence"])
sm_quiz.userdata.available_quiz = []
sm_quiz.userdata.selected_quiz = None
sm_quiz.userdata.silence_retry = False
with sm_quiz:
smach.StateMachine.add(
"load_quiz", LoadQuizState(),
transitions={"next": "select_quiz"},
remapping={"available_quiz": "available_quiz"})
sm_quiz.set_initial_state(["load_quiz"])
smach.StateMachine.add(
"select_quiz", SelectQuizState(),
transitions={"next": "ask_quiz", "no_quiz": "load_quiz"},
remapping={"available_quiz": "available_quiz",
"selected_quiz": "selected_quiz"})
smach.StateMachine.add(
"reset_silence_retried",
general_states.ResetRetryCounter("silence_retry", 2 - 1),
transitions={"next": "ask_quiz"},
remapping={"silence_retry": "silence_retry"})
smach.StateMachine.add(
"ask_quiz", AskQuizState(),
transitions={"next": "check_answer"},
remapping={"selected_quiz": "selected_quiz"})
smach.StateMachine.add(
"check_answer", CheckAnswerState(),
transitions={"correct": "congratulate_correct_answer",
"wrong": "respond_wrong_answer",
"repeat": "ask_quiz",
"silence": "test_silence_retry",
"dont_know": "respond_dont_know"},
remapping={"selected_quiz": "selected_quiz"})
smach.StateMachine.add(
"congratulate_correct_answer", CongratulateCorrectAnswerState(),
transitions={"next": "decide_to_ask_want_more"},
remapping={"selected_quiz": "selected_quiz"})
smach.StateMachine.add(
"respond_wrong_answer", RespondWrongAnswerState(),
transitions={"next": "decide_to_ask_want_more"},
remapping={"selected_quiz": "selected_quiz"})
smach.StateMachine.add(
"respond_dont_know", RespondDontKnowState(),
transitions={"next": "decide_to_ask_want_more"},
remapping={"selected_quiz": "selected_quiz"})
smach.StateMachine.add(
"test_silence_retry",
general_states.DecreaseAndTestRetry("silence_retry"),
transitions={"continue": "say_repeat_question",
"give_up": "silence"},
remapping={"silence_retry": "silence_retry"})
smach.StateMachine.add(
"say_repeat_question", SayRepeatQuestionState(),
transitions={"next": "ask_quiz"})
smach.StateMachine.add(
"decide_to_ask_want_more", DecideToAskWantMoreState(),
transitions={"ask_want_more": "ask_want_more",
"no_more": "no_more_quiz"},
remapping={"available_quiz": "available_quiz"})
smach.StateMachine.add(
"ask_want_more", AskWantMoreState(),
transitions={"want_more": "select_quiz",
"silence": "say_goodbye",
"no_more": "say_goodbye"},
remapping={"available_quiz": "available_quiz"})
smach.StateMachine.add(
"no_more_quiz", SayNoMoreQuizState(),
transitions={"next": "say_goodbye"},
remapping={"available_quiz": "available_quiz"})
smach.StateMachine.add(
"say_goodbye", SayGoodbyeState(),
transitions={"next": "finished"})
return sm_quiz
def GetTourGuideStateMachine():
sm = smach.StateMachine(outcomes=["finished", "failed"])
with sm:
smach.StateMachine.add("say_follow_me",
SayFollowMe(),
transitions={"next": "prepare_to_move"})
sm.set_initial_state(["say_follow_me"])
smach.StateMachine.add(
"prepare_to_move",
robot_pose_states.GetPrepareToMoveStateMachine(),
transitions={
"success": "load_tour_points",
"fail": "apologize_error"
})
smach.StateMachine.add(
"load_tour_points",
LoadTourPointsList(),
transitions={"next": "get_next_tour_point"},
remapping={"remaining_tour_points": "remaining_tour_points"})
smach.StateMachine.add("get_next_tour_point",
GetNextTourPoint(),
transitions={
"next": "reset_go_to_tour_point_retry",
"empty": "say_thats_all"
},
remapping={
"tour_point_id": "tour_point_id",
"remaining_tour_points":
"remaining_tour_points"
})
smach.StateMachine.add(
"reset_go_to_tour_point_retry",
general_states.ResetRetryCounter("go_to_tour_point_retry", 3 - 1),
transitions={"next": "go_to_tour_point"},
remapping={"go_to_tour_point_retry": "go_to_tour_point_retry"})
smach.StateMachine.add("go_to_tour_point",
GoToTourPointState(),
transitions={
"done": "say_tour_words",
"failed":
"decrease_and_test_go_to_tour_point"
},
remapping={"tour_point_id": "tour_point_id"})
smach.StateMachine.add(
"decrease_and_test_go_to_tour_point",
general_states.DecreaseAndTestRetry("go_to_tour_point_retry"),
transitions={
"continue": "say_move_away",
"give_up": "apologize_error"
},
remapping={"go_to_tour_point_retry": "go_to_tour_point_retry"})
smach.StateMachine.add("say_move_away",
SayMoveAwayState(),
transitions={"next": "go_to_tour_point"})
smach.StateMachine.add("say_tour_words",
SayTourWords(),
transitions={"next": "get_next_tour_point"},
remapping={"tour_point_id": "tour_point_id"})
smach.StateMachine.add("say_thats_all",
SayThatsAll(),
transitions={"next": "finished"})
smach.StateMachine.add("apologize_error",
ApologizeErrorState(),
transitions={"next": "failed"})
return sm
def GetGreetPeopleWithFaceOrRememberFaceStateMachine():
sm = smach.StateMachine(
outcomes=["known_person", "unknown_person", "error"],
output_keys=["human_name"])
sm.userdata.last_seen_human_uuid = None
sm.userdata.last_seen_human_timestamp = None
sm.userdata.last_seen_human_nicknames = None
sm.userdata.human_name = None
with sm:
smach.StateMachine.add(
"greet_people_state1", GreetPeopleState1(),
transitions={"next": "lookup_recent_seen_human_id_1"})
smach.StateMachine.add(
"lookup_recent_seen_human_id_1", LookUpRecentSeenIdentityState(),
transitions={"known_person": "greet_known_people",
"unknown_person": "greet_people_state2",
"error": "apologize_error"},
remapping={"last_seen_human_uuid": "last_seen_human_uuid",
"last_seen_human_timestamp": "last_seen_human_timestamp",
"last_seen_human_nicknames": "last_seen_human_nicknames"})
sm.set_initial_state(["greet_people_state1"])
smach.StateMachine.add(
"greet_people_state2", GreetPeopleState2(),
transitions={"next": "lookup_recent_seen_human_id_2"})
smach.StateMachine.add(
"lookup_recent_seen_human_id_2", LookUpRecentSeenIdentityState(),
transitions={"known_person": "greet_known_people",
"unknown_person": "greet_people_state3",
"error": "apologize_error"},
remapping={"last_seen_human_uuid": "last_seen_human_uuid",
"last_seen_human_timestamp": "last_seen_human_timestamp",
"last_seen_human_nicknames": "last_seen_human_nicknames"})
smach.StateMachine.add(
"greet_people_state3", GreetPeopleState3(),
transitions={"next": "lookup_recent_seen_human_id_3"})
smach.StateMachine.add(
"lookup_recent_seen_human_id_3", LookUpRecentSeenIdentityState(),
transitions={"known_person": "greet_known_people",
"unknown_person": "ask_for_name",
"error": "apologize_error"},
remapping={"last_seen_human_uuid": "last_seen_human_uuid",
"last_seen_human_timestamp": "last_seen_human_timestamp",
"last_seen_human_nicknames": "last_seen_human_nicknames"})
smach.StateMachine.add(
"greet_known_people", GreetKnownPeopleState(),
transitions={"next": "known_person"},
remapping={"last_seen_human_nicknames": "last_seen_human_nicknames"})
smach.StateMachine.add(
"ask_for_name", AskForNameState(),
transitions={"next": "reset_ask_name_retry"})
smach.StateMachine.add(
"reset_ask_name_retry",
general_states.ResetRetryCounter("ask_name_retry", 2 - 1),
transitions={"next": "listen_for_human_name"},
remapping={"ask_name_retry": "ask_name_retry"})
smach.StateMachine.add(
"listen_for_human_name", ListenForHumanNameState(),
transitions={
"got_name": "greet_unknown_person_with_name",
"dont_understand": "decrease_and_test_ask_name_retry_dont_understand",
"silence": "decrease_and_test_ask_name_retry_silence"},
remapping={"human_name": "human_name"})
smach.StateMachine.add(
"decrease_and_test_ask_name_retry_dont_understand",
general_states.DecreaseAndTestRetry("ask_name_retry"),
transitions={"continue": "ask_name_again_for_dont_understand",
"give_up": "apologize_error"},
remapping={"ask_name_retry": "ask_name_retry"})
smach.StateMachine.add(
"decrease_and_test_ask_name_retry_silence",
general_states.DecreaseAndTestRetry("ask_name_retry"),
transitions={"continue": "ask_name_again_for_silence",
"give_up": "apologize_error"},
remapping={"ask_name_retry": "ask_name_retry"})
smach.StateMachine.add(
"ask_name_again_for_dont_understand",
AskNameAgainForDontUnderstandState(),
transitions={"next": "listen_for_human_name"})
smach.StateMachine.add(
"ask_name_again_for_silence",
AskNameAgainForSilenceState(),
transitions={"next": "listen_for_human_name"})
smach.StateMachine.add(
"greet_unknown_person_with_name",
GreetHumanWithNameState(),
transitions={"next": "unknown_person"},
remapping={"human_name": "human_name"})
smach.StateMachine.add(
"apologize_error", ApologizeErrorState(),
transitions={"next": "error"})
return sm