def test_deferred_initial_state_should_be_none_then_state(self):
fsm = Fysom({
'initial': {'state': 'green', 'event': 'init', 'defer': True},
'events': [
{'name': 'panic', 'src': 'green', 'dst': 'red'},
{'name': 'calm', 'src': 'red', 'dst': 'green'},
]
})
self.assertEqual(fsm.current, 'none')
fsm.init()
self.assertEqual(fsm.current, 'green')
def main():
## START
# Set logging verbosity from arguments
parser = argparse.ArgumentParser(description='E-mail based audio messenger for kids and their loved ones.')
parser.add_argument('--verbose', '-v', action='count', default=0, help='Set logging level to console')
args = parser.parse_args()
# Parse arguments
if args.verbose > 0:
# Set up console logger at INFO level
console_handler = logging.StreamHandler()
console_handler.setFormatter(log_format)
console_handler.setLevel(logging.INFO)
# -vv or greater debugs at DEBUG level
if args.verbose > 1:
console_handler.setLevel(logging.DEBUG)
root_logger = logging.getLogger()
root_logger.addHandler(console_handler)
root_logger.info("Console logging set to {}".format(logging.getLevelName(root_logger.getEffectiveLevel())))
## INITIALIZATION
# Set up Finite State Machine using Fysom: https://github.com/mriehl/fysom
# FSM is defined at https://www.lucidchart.com/invitations/accept/af5b86f9-d5ef-42a6-b399-e74c64d91fe2
fsm = Fysom({
'initial': {'state': 'nav', 'event': 'init', 'defer': True},
'events': [
{'name': 'new_msg', 'src': 'nav', 'dst': 'notify'},
{'name': 'new_msg', 'src': 'play_msg', 'dst': 'play_msg'},
{'name': 'b_mode_press', 'src': 'nav', 'dst': 'nav'},
{'name': 'b_mode_press', 'src': 'notify', 'dst': 'play_msg'},
{'name': 'b_left_press', 'src': 'play_rec', 'dst': 'nav'},
{'name': 'b_left_press', 'src': ['nav', 'notify'], 'dst': 'play_msg'},
{'name': 'b_right_press', 'src': 'play_rec', 'dst': 'nav'},
{'name': 'b_right_press', 'src': ['nav', 'notify'], 'dst': 'play_msg'},
{'name': 'b_main_press', 'src': 'play_rec', 'dst': 'send_msg'},
{'name': 'b_main_press', 'src': 'notify', 'dst': 'play_msg'},
{'name': 'b_main_hold', 'src': ['nav', 'play_rec'], 'dst': 'rec'},
{'name': 'b_main_release', 'src': 'rec', 'dst': 'play_rec'},
{'name': 'play_complete', 'src': 'play_msg', 'dst': 'nav'},
{'name': 'timeout', 'src': 'play_rec', 'dst': 'nav'},
{'name': 'send_complete', 'src': 'send_msg', 'dst': 'nav'},
{'name': 'rec_cancel', 'src': 'rec', 'dst': 'nav'}
],
'callbacks': {
'onnav': onnav,
'onnotify': onnotify,
'onplay_msg': onplay_msg,
'onsend_msg': onsend_msg,
'onplay_rec': onplay_rec,
'onrec': onrec
}
})
# Set up threads
# Mail Thread
thread_mail = mail.IMAPThread()
thread_mail.run()
# Record Thread
thread_rec = audio.RecordThread()
thread_rec.start()
# Buttons - these fire most of the events
# Main button
b_main = Button(1, bounce_time=.1)
b_main.when_pressed = fsm.b_main_press
b_main.when_held = fsm.b_main_hold
b_main.when_released = fsm.b_main_release
# Mode button
b_mode = Button(2, bounce_time=.1)
b_mode.when_pressed = fsm.b_mode_press
# Left button
b_left = Button(3, bounce_time=.1)
b_left.when_pressed = fsm.b_left_press
# Right button
b_right = Button(4, bounce_time=.1)
b_right.when_pressed = fsm.b_right_press
buttons = {
'main': b_main,
'mode': b_mode,
'left': b_left,
'right': b_right}
# LEDs
leds = {
'main': PWMLED(5),
'mode': RGBLED(6,7,8),
'left': RGBLED(9,10,11),
'right': RGBLED(12,13,14)}
# This dict will be available to all states to keep track of threads, buttons, leds, and the fsm
global state
state = {
'threads': {
'mail': thread_imap,
'rec': thread_rec},
'buttons' = buttons,
'leds' = leds,
'fsm': fsm}
fsm.init()
pause()
class Leveller(object):
name = attr.ib()
fsm = attr.ib(Fysom())
poses = attr.ib({
1: [.0, .0, .0, .0, .0, .0],
2: [.0, .0, -pi / 2, .0, pi / 2, .0],
3: [.0, .0, -pi / 2, -pi / 2, pi / 2, .0],
4: [.0, .0, -pi / 4, -pi / 2, .0, (pi / 2 - pi / 6)],
5: [.0, .0, -pi / 4, .0, .0, (-pi / 6)],
6: [.0, pi / 4, .0, .0, -pi / 2, (-pi / 6)],
7: [-pi, -pi / 4, .0, .0, -pi / 2, (-pi / 6)],
8: [-pi, -pi / 4, -pi, pi, -pi / 2, (-pi / 6)],
9: [.0, pi / 4, .0, .0, -pi / 4, -pi],
})
joints = attr.ib({})
calibration_moves = attr.ib({
1: [1],
# search tilt at 1 and record joint angle
# move to 7 and then 8
# search tilt at 8 and record joint angle
# calculate offset of difference
2: [6, 7, 8],
3: [3],
4: [1],
# search tilt at 4 and record joint angle
# move to 5
# search tilt at 5 and record joint angle
# 5 is parallel with 3
5: [4, 5],
6: [2],
})
# sequence determines the order in which joints get calibrated
# the calibration moves define the poses in chich this is done
sequence = attr.ib([6, 3, 4, 5, 2])
# current joint to be calibrated
curr_joint = attr.ib(default=0)
# with its current calibration moves
moves = attr.ib(default=[])
# remember the current move
moves_index = attr.ib(default=0)
fine_calibration = attr.ib(default=False)
rt = attr.ib(rt.init_RTAPI())
hal = attr.ib(hal)
max_vel = attr.ib(default=0.1)
max_acc = attr.ib(default=0.1)
calib_fast_iter = attr.ib(default=3)
calib_fast_vel = attr.ib(default=0.1)
calib_fast_acc = attr.ib(default=1.6)
calib_fast_amp = attr.ib(default=0.4)
calib_slow_iter = attr.ib(default=10)
calib_slow_vel = attr.ib(default=0.005)
calib_slow_acc = attr.ib(default=0.1)
calib_slow_amp = attr.ib(default=0.1)
speed_factor = attr.ib(default=1.)
fully_automatic_levelling = attr.ib(default=True)
info_callback = attr.ib(default='put_callback_here')
def dummy_print_callback(self, txt):
print(txt)
def start(self):
self.fsm.t_activate_joint()
def move_to_pose(self, nr=0):
if nr in self.poses:
longest_distance = self.find_longest_distance(nr)
print("longest distance = %s rad" % longest_distance)
self.calc_joint_move(longest_distance)
for i in range(1, 7):
j = self.joints[i]
print("{} -> {}".format(j.jp_pin("max-vel"), j.max_vel))
print("{} -> {}".format(j.jp_pin("max-acc"), j.max_acc))
print("{} -> {}".format(j.jp_pin("pos-cmd"), j.pos_cmd))
self.hal.Pin(j.jp_pin("max-vel")).set(j.max_vel)
self.hal.Pin(j.jp_pin("max-acc")).set(j.max_acc)
self.hal.Pin(j.jp_pin("pos-cmd")).set(j.pos_cmd)
def find_longest_distance(self, nr=0):
abs_dist = 0
longest_distance = 0
joint_nr = 0
for i in range(1, 7):
curr_pos = self.hal.Signal('joint%s_ros_pos_fb' % i).get()
j = self.joints[i]
j.curr_pos = curr_pos
j.pos_cmd = self.poses[nr][i - 1] + j.offset
abs_dist = abs(j.pos_cmd - j.curr_pos)
if abs_dist > longest_distance:
longest_distance = abs_dist
return longest_distance
def calc_joint_move(self, l_dist=0):
if l_dist > 0:
for i in range(1, 7):
j = self.joints[i]
dist = abs(j.pos_cmd - j.curr_pos)
print("distance joint {} is {} rad".format(i, dist))
j.max_acc = self.max_acc * (dist / l_dist) * self.speed_factor
j.max_vel = self.max_vel * (dist / l_dist) * self.speed_factor
# prevent very slow moves nearing zero velocity
if j.max_acc < j.min_acc: j.max_acc = j.min_acc
if j.max_vel < j.min_vel: j.max_vel = j.min_vel
def initialize(self):
for i in range(1, 7):
j = self.joints[i]
j.jp_name = "jp{}.0".format(i)
j.sampler_name = "sampler{}".format(i)
j.ring_name = "sampler{}.ring".format(i)
self.recorder = Recorder(name="sample_recorder", hal=self.hal)
self.info_callback = self.dummy_print_callback
def disable_all_jplan(self):
for i in range(1, 7):
j = self.joints[i - 1]
self.hal.Pin(j.pin('enable')).set(0)
def enable_all_jplan(self):
for i in range(1, 7):
j = self.joints[i - 1]
self.hal.Pin(j.pin('enable')).set(1)
def oscillate_joint(self,
nr=0,
nominal=0.,
amplitude=0.5,
nr_measurements=5,
speed=.1,
accel=3.0,
offset=.0):
if nr in self.joints:
direction = 1
center = nominal + offset
target = center + (amplitude * direction)
# let's set delta as 5% of the amplitude
delta = amplitude * 0.05
measurement = 0
j = self.joints[nr]
self.hal.Pin(j.jp_pin("max-vel")).set(speed)
self.hal.Pin(j.jp_pin("max-acc")).set(accel)
self.hal.Pin(j.jp_pin("pos-cmd")).set(target)
# set correct settings of the ring of the joint
self.recorder.reset()
self.recorder.set_sampler(sampler_name=j.sampler_name,
ring_name=j.ring_name)
self.wait_on_finish_moving()
self.recorder.start()
while (measurement < nr_measurements):
# process the records in the ring
self.recorder.process_samples()
# get the current position
curr_pos = self.hal.Signal('joint%s_ros_pos_fb' % (nr)).get()
if direction > 0:
if curr_pos > (target - delta):
direction *= -1
target = center + (amplitude * direction)
measurement += 1
self.info_callback("Measurement: %s" % measurement)
self.hal.Pin(j.jp_pin("pos-cmd")).set(target)
if direction < 0:
if curr_pos < (target + delta):
direction *= -1
target = center + (amplitude * direction)
self.hal.Pin(j.jp_pin("pos-cmd")).set(target)
time.sleep(0.1)
self.recorder.stop()
self.hal.Pin(j.jp_pin("pos-cmd")).set(center)
j.calculate_offset(sample_values=self.recorder.get_samples(),
nominal=nominal)
def calibrate_1(self):
j = self.joints[self.curr_joint]
#self.info_callback("calibration of %s" % j.name)
def calibrate_2(self):
j = self.joints[self.curr_joint]
self.info_callback("calibration of %s" % j.name)
# roughly seek around the joint 2 nominal angle
nominal_pos = self.poses[self.moves[self.moves_index]][self.curr_joint
- 1]
self.oscillate_joint(nr=self.curr_joint,
nr_measurements=self.calib_fast_iter,
nominal=nominal_pos,
accel=self.calib_fast_acc,
amplitude=self.calib_fast_amp,
speed=self.calib_fast_vel)
self.info_callback('rough 1st angle of joint 2 at signal is %s' %
(nominal_pos + j.offset))
self.move_to_pose(self.moves[self.moves_index])
self.wait_on_finish_moving()
if self.fine_calibration == True:
self.oscillate_joint(nr=self.curr_joint,
nr_measurements=self.calib_slow_iter,
nominal=nominal_pos,
offset=j.offset,
accel=self.calib_slow_acc,
amplitude=self.calib_slow_amp,
speed=self.calib_slow_vel)
self.info_callback(
'accurate 1st angle of joint 2 at signal is %s' %
(nominal_pos + j.offset))
self.hal.Pin(j.jp_pin("pos-cmd")).set(nominal_pos + j.offset)
self.wait_on_finish_moving()
# first part is done, now save this offset value and change poses
# to the 180 degree twisted setup and repeat
offset_1 = nominal_pos + j.offset
j.offset = 0
self.moves_index += 1
self.move_to_pose(self.moves[self.moves_index])
self.wait_on_finish_moving()
self.moves_index += 1
self.move_to_pose(self.moves[self.moves_index])
self.wait_on_finish_moving()
# take new measurments for the 2nd offset
nominal_pos = self.poses[self.moves[self.moves_index]][self.curr_joint
- 1]
self.oscillate_joint(nr=self.curr_joint,
nr_measurements=self.calib_fast_iter,
nominal=nominal_pos,
accel=self.calib_fast_acc,
amplitude=self.calib_fast_amp,
speed=self.calib_fast_vel)
self.info_callback('rough 2nd angle of joint 2 at signal is %s' %
(nominal_pos + j.offset))
self.move_to_pose(self.moves[self.moves_index])
self.wait_on_finish_moving()
if self.fine_calibration == True:
self.oscillate_joint(nr=self.curr_joint,
nr_measurements=self.calib_slow_iter,
nominal=nominal_pos,
offset=j.offset,
accel=self.calib_slow_acc,
amplitude=self.calib_slow_amp,
speed=self.calib_slow_vel)
self.info_callback(
'accurate 2nd angle of joint 2 at signal is %s' %
(nominal_pos + j.offset))
# move to the calculated offset value
self.hal.Pin(j.jp_pin("pos-cmd")).set(nominal_pos + j.offset)
self.wait_on_finish_moving()
offset_2 = nominal_pos + j.offset
# the average offset is the real offset of joint 2
j.offset = (offset_1 + offset_2) / 2
self.info_callback('offset of joint 2 is %s' % j.offset)
def calibrate_3(self):
j = self.joints[self.curr_joint]
self.info_callback("calibration of %s" % j.name)
# first rough calculation,
nominal_pos = self.poses[self.moves[self.moves_index]][self.curr_joint
- 1]
self.oscillate_joint(nr=self.curr_joint,
nr_measurements=self.calib_fast_iter,
nominal=nominal_pos,
accel=self.calib_fast_acc,
amplitude=self.calib_fast_amp,
speed=self.calib_fast_vel)
self.info_callback('rough offset of joint 3 is %s' % j.offset)
self.move_to_pose(self.moves[self.moves_index])
self.wait_on_finish_moving()
if self.fine_calibration == True:
self.oscillate_joint(nr=self.curr_joint,
nr_measurements=self.calib_slow_iter,
nominal=nominal_pos,
offset=j.offset,
accel=self.calib_slow_acc,
amplitude=self.calib_slow_amp,
speed=self.calib_slow_vel)
# move to the calculated offset value
self.hal.Pin(j.jp_pin("pos-cmd")).set(nominal_pos + j.offset)
self.wait_on_finish_moving()
self.info_callback('accurate offset of joint 3 is %s' % j.offset)
def calibrate_4(self):
j = self.joints[self.curr_joint]
self.info_callback("calibration of %s" % j.name)
# first rough calculation,
nominal_pos = self.poses[self.moves[self.moves_index]][self.curr_joint
- 1]
self.oscillate_joint(nr=self.curr_joint,
nr_measurements=self.calib_fast_iter,
nominal=nominal_pos,
accel=self.calib_fast_acc,
amplitude=self.calib_fast_amp,
speed=self.calib_fast_vel)
self.info_callback('rough offset of joint 4 is %s' % j.offset)
self.move_to_pose(self.moves[self.moves_index])
self.wait_on_finish_moving()
if self.fine_calibration == True:
self.oscillate_joint(nr=self.curr_joint,
nr_measurements=self.calib_slow_iter,
nominal=nominal_pos,
offset=j.offset,
accel=self.calib_slow_acc,
amplitude=self.calib_slow_amp,
speed=self.calib_slow_vel)
# move to the calculated offset value
self.hal.Pin(j.jp_pin("pos-cmd")).set(nominal_pos + j.offset)
self.info_callback('accurate offset of joint 4 is %s' %
(nominal_pos + j.offset))
self.wait_on_finish_moving()
def calibrate_5(self):
j3 = self.joints[3]
j = self.joints[self.curr_joint]
self.info_callback("calibration of %s" % j.name)
# first remember old home value and find angle for joint 3
joint_3_home = j3.offset
# roughly seek around the joint 3 nominal angle
nominal_pos = self.poses[self.moves[self.moves_index]][2]
self.oscillate_joint(nr=3,
nr_measurements=self.calib_fast_iter,
nominal=nominal_pos,
accel=self.calib_fast_acc,
amplitude=self.calib_fast_amp,
speed=self.calib_fast_vel)
self.info_callback('rough angle of joint 3 at signal is %s' %
(nominal_pos + j3.offset))
self.hal.Pin(j3.jp_pin("pos-cmd")).set(nominal_pos + j3.offset)
self.wait_on_finish_moving()
if self.fine_calibration == True:
self.oscillate_joint(nr=3,
nr_measurements=self.calib_slow_iter,
nominal=nominal_pos,
offset=j3.offset,
accel=self.calib_slow_acc,
amplitude=self.calib_slow_amp,
speed=self.calib_slow_vel)
self.info_callback('accurate angle of joint 3 at signal is %s' %
(nominal_pos + j3.offset))
# the angle of jont 3 at which the IMU signals is now known,
# now rotate joint 4 and joint 6 and find the offset of joint 5
# since joint 5 will be in line with joint 3 and 4, that offset
# is the correct deviation from "zero"
self.moves_index += 1
self.move_to_pose(self.moves[self.moves_index])
self.wait_on_finish_moving()
nominal_pos = self.poses[self.moves[self.moves_index]][self.curr_joint
- 1]
self.oscillate_joint(nr=self.curr_joint,
nr_measurements=self.calib_fast_iter,
nominal=nominal_pos,
accel=self.calib_fast_acc,
amplitude=self.calib_fast_amp,
speed=self.calib_fast_vel)
self.info_callback('rough offset of joint 5 is %s' %
(nominal_pos + j.offset))
self.hal.Pin(j.jp_pin("pos-cmd")).set(nominal_pos + j.offset)
self.wait_on_finish_moving()
if self.fine_calibration == True:
self.oscillate_joint(nr=self.curr_joint,
nr_measurements=self.calib_slow_iter,
nominal=nominal_pos,
offset=j.offset,
accel=self.calib_slow_acc,
amplitude=self.calib_slow_amp,
speed=self.calib_slow_vel)
# move to the calculated offset value
self.hal.Pin(j.jp_pin("pos-cmd")).set(nominal_pos + j.offset)
self.info_callback('accurate offset of joint 5 is %s' % j.offset)
self.wait_on_finish_moving()
# put old home value of joint 3 back again
self.joints[3].offset = joint_3_home
def calibrate_6(self):
j = self.joints[self.curr_joint]
self.info_callback("calibration of %s" % j.name)
# first rough calculation,
nominal_pos = self.poses[self.moves[self.moves_index]][self.curr_joint
- 1]
self.oscillate_joint(nr=self.curr_joint,
nr_measurements=self.calib_fast_iter,
nominal=nominal_pos,
accel=self.calib_fast_acc,
amplitude=self.calib_fast_amp,
speed=self.calib_fast_vel)
self.info_callback('rough offset of joint 6 is %s' % j.offset)
self.move_to_pose(self.moves[self.moves_index])
self.wait_on_finish_moving()
# then do accurate calculation
if self.fine_calibration == True:
self.oscillate_joint(nr=self.curr_joint,
nr_measurements=self.calib_slow_iter,
nominal=nominal_pos,
offset=j.offset,
accel=self.calib_slow_acc,
amplitude=self.calib_slow_amp,
speed=self.calib_slow_vel)
# move to the calculated offset value
self.hal.Pin(j.jp_pin("pos-cmd")).set(nominal_pos + j.offset)
self.info_callback('accurate offset of joint 6 is %s' % j.offset)
self.wait_on_finish_moving()
def wait_on_finish_moving(self):
timeout = 2000
t = 0
prev_pos_arr = [.0, .0, .0, .0, .0, .0]
curr_pos_arr = [
self.hal.Pin('jp1.0.curr-pos').get(),
self.hal.Pin('jp2.0.curr-pos').get(),
self.hal.Pin('jp3.0.curr-pos').get(),
self.hal.Pin('jp4.0.curr-pos').get(),
self.hal.Pin('jp5.0.curr-pos').get(),
self.hal.Pin('jp6.0.curr-pos').get()
]
motion = (prev_pos_arr != curr_pos_arr)
#while((self.hal.Pin('jplanners_active.out').get() == True) and (t < timeout)):
while (motion and (t < timeout)):
time.sleep(0.05)
t += 1
prev_pos_arr = curr_pos_arr
curr_pos_arr = [
self.hal.Pin('jp1.0.curr-pos').get(),
self.hal.Pin('jp2.0.curr-pos').get(),
self.hal.Pin('jp3.0.curr-pos').get(),
self.hal.Pin('jp4.0.curr-pos').get(),
self.hal.Pin('jp5.0.curr-pos').get(),
self.hal.Pin('jp6.0.curr-pos').get()
]
#print prev_pos_arr
#print curr_pos_arr
motion = (prev_pos_arr != curr_pos_arr)
#print motion
if (t >= timeout):
print("timeout")
def oninitial(self, e):
self.initialize()
self.fsm.t_setup()
def onsetup(self, e):
# set indexes to pick the first joint number in sequence
self.sequence_index = 0
# set index to first list entry
self.moves_index = 0
self.fsm.t_idle()
def onactivate_joint(self, e):
# set the first joint to calibrate
self.curr_joint = self.sequence[self.sequence_index]
# select the moves list to use
self.moves = self.calibration_moves[self.curr_joint]
self.fsm.t_move_to_first_pose()
def onmove_to_first_pose(self, e):
self.move_to_pose(self.moves[self.moves_index])
self.wait_on_finish_moving()
self.fsm.t_calibrate_joint()
def oncalibrate_joint(self, e):
self.joints[self.curr_joint].calibration()
self.fsm.t_joint_calibrated()
def onjoint_calibrated(self, e):
self.joints[self.curr_joint].calibrated = True
self.fsm.t_set_next_joint()
def onset_next_joint(self, e):
# set index to first list entry
self.moves_index = 0
if self.sequence_index < (len(self.sequence) - 1):
# set indexes to pick the first joint number in sequence
self.sequence_index += 1
if self.fully_automatic_levelling == True:
self.fsm.t_activate_joint()
else:
# just start over with an entire new set if we want.
self.sequence_index = 0
self.fsm.t_move_zero()
def onmove_to_zero(self, e):
self.move_to_pose(7)
self.wait_on_finish_moving()
self.move_to_pose(1)
self.wait_on_finish_moving()
def sync_jp_with_current_pos(self, i=0):
if (i != 0):
j = self.joints[i]
curr_pos = self.hal.Signal('joint%s_ros_pos_fb' % i).get()
self.hal.Pin(j.jp_pin("pos-cmd")).set(curr_pos)
self.wait_on_finish_moving()
print("joint %s HAL synced" % i)
def init_attributes(self):
self.joints = {
1: Joint(name='joint_1', calibration=self.calibrate_1),
2: Joint(name='joint_2', calibration=self.calibrate_2),
3: Joint(name='joint_3', calibration=self.calibrate_3),
4: Joint(name='joint_4', calibration=self.calibrate_4),
5: Joint(name='joint_5', calibration=self.calibrate_5),
6: Joint(name='joint_6', calibration=self.calibrate_6),
}
self.fsm = Fysom({
'initial': {
'state': 'initial',
'event': 'init',
'defer': True
},
'events': [
{
'name': 't_setup',
'src': ['initial', 'fault'],
'dst': 'setup',
},
{
'name': 't_idle',
'src': 'setup',
'dst': 'idle'
},
{
'name': 't_activate_joint',
'src': ['idle', 'set_next_joint', 'joint_calibrated'],
'dst': 'activate_joint'
},
{
'name': 't_move_to_first_pose',
'src': ['activate_joint'],
'dst': 'move_to_first_pose'
},
{
'name': 't_calibrate_joint',
'src': 'move_to_first_pose',
'dst': 'calibrate_joint'
},
{
'name': 't_joint_calibrated',
'src': 'calibrate_joint',
'dst': 'joint_calibrated'
},
{
'name': 't_set_next_joint',
'src': 'joint_calibrated',
'dst': 'set_next_joint'
},
{
'name': 't_move_zero',
'src': 'set_next_joint',
'dst': 'move_to_zero'
},
{
'name': 't_end',
'src': 'move_to_zero',
'dst': 'finished'
},
{
'name':
't_error',
'src': [
'initial', 'setup', 'idle', 'activate_joint',
'move_to_first_pose', 'start_next_move',
'calibrate_joint', 'joint_calibrated',
'set_next_joint', 'move_to_zero'
],
'dst':
'fault',
},
{
'name':
't_abort',
'src': [
'initial', 'setup', 'idle', 'activate_joint',
'move_to_first_pose', 'calibrate_joint',
'joint_calibrated', 'set_next_joint', 'move_to_zero'
],
'dst':
'abort',
},
],
'callbacks': {
'oninitial': self.oninitial,
'onsetup': self.onsetup,
'onactivate_joint': self.onactivate_joint,
'onmove_to_first_pose': self.onmove_to_first_pose,
'oncalibrate_joint': self.oncalibrate_joint,
'onjoint_calibrated': self.onjoint_calibrated,
'onset_next_joint': self.onset_next_joint,
'onmove_to_zero': self.onmove_to_zero
}
})
self.fsm.init()