def create(self):
# x:30 y:365, x:416 y:272
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:117 y:105
OperatableStateMachine.add('launch vid',
LaunchVideoStream(vid_input_num=0),
transitions={
'continue': 'facesrv',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:595 y:89
OperatableStateMachine.add('onjtrk',
LaunchObjDetectAndTrack(),
transitions={
'continue': 'facial_gestures',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:378 y:33
OperatableStateMachine.add('facesrv',
LaunchFaceServer(),
transitions={
'continue': 'onjtrk',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:746 y:432
OperatableStateMachine.add('w1',
WaitState(wait_time=20),
transitions={'done': 'kill faces'},
autonomy={'done': Autonomy.Off})
# x:717 y:230
OperatableStateMachine.add('facial_gestures',
FacialGesturesState(),
transitions={
'continue': 'w1',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:503 y:479
OperatableStateMachine.add('kill faces',
KillFacialGesturesState(),
transitions={
'continue': 'stop face serv',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:300 y:445
OperatableStateMachine.add('stop face serv',
StopFaceServer(),
transitions={
'continue': 'finished',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
return _state_machine
def create(self):
# x:949 y:748, x:437 y:452
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:192 y:105
OperatableStateMachine.add(
'wait a sec',
WaitState(wait_time=3),
transitions={'done': 'start_video_stream_State'},
autonomy={'done': Autonomy.Off})
# x:835 y:33
OperatableStateMachine.add(
'wait number TWO',
WaitState(wait_time=10),
transitions={'done': 'stop detect and track'},
autonomy={'done': Autonomy.Off})
# x:633 y:37
OperatableStateMachine.add('start detect and track',
LaunchObjDetectAndTrack(),
transitions={
'continue': 'wait number TWO',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:821 y:142
OperatableStateMachine.add(
'stop detect and track',
robot_brain_flexbe_states__StopObjectDetectAndTrack(),
transitions={
'continue': 'stop video stream',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:415 y:39
OperatableStateMachine.add('start_video_stream_State',
LaunchVideoStream(),
transitions={
'continue':
'start detect and track',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:822 y:253
OperatableStateMachine.add('stop video stream',
StopCameraStream(),
transitions={
'continue': 'finished',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
return _state_machine
def create(self):
# x:30 y:365, x:526 y:310
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:80 y:113
OperatableStateMachine.add('video',
LaunchVideoStream(vid_input_num=0),
transitions={
'continue': 'w',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:423 y:65
OperatableStateMachine.add('motor_face server',
LaunchFaceServer(),
transitions={
'continue': 'w2',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:286 y:75
OperatableStateMachine.add(
'w',
WaitState(wait_time=5),
transitions={'done': 'motor_face server'},
autonomy={'done': Autonomy.Off})
# x:590 y:183
OperatableStateMachine.add('w2',
WaitState(wait_time=5),
transitions={'done': 'objtrk'},
autonomy={'done': Autonomy.Off})
# x:767 y:180
OperatableStateMachine.add('objtrk',
LaunchObjDetectAndTrack(),
transitions={
'continue': 'w4',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:805 y:282
OperatableStateMachine.add('w4',
WaitState(wait_time=20),
transitions={'done': 'stop objtrk'},
autonomy={'done': Autonomy.Off})
# x:753 y:378
OperatableStateMachine.add('stop objtrk',
StopObjectDetectAndTrack(),
transitions={
'continue': 'start face trk',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:527 y:396
OperatableStateMachine.add('start face trk',
FaceDetTrack(),
transitions={
'continue': 'w6',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:215 y:426
OperatableStateMachine.add('stop face',
StopFaceDetectAndTrack(),
transitions={
'continue': 'stop face server',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:418 y:496
OperatableStateMachine.add('w6',
WaitState(wait_time=20),
transitions={'done': 'stop face'},
autonomy={'done': Autonomy.Off})
# x:173 y:264
OperatableStateMachine.add('stop face server',
StopFaceServer(),
transitions={
'continue': 'w',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:370 y:484, x:130 y:365
_sm_container_0 = OperatableStateMachine(
outcomes=['finished', 'failed'])
with _sm_container_0:
# x:112 y:64
OperatableStateMachine.add('video stream',
LaunchVideoStream(vid_input_num=1),
transitions={
'continue': 'face motor server',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:337 y:45
OperatableStateMachine.add('face motor server',
LaunchFaceServer(),
transitions={
'continue': 'sound calib',
'failed': 'finished'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:602 y:77
OperatableStateMachine.add(
'sound calib',
SoundCalibState(length_of_calibration=70),
transitions={
'continue': 'finished',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
with _state_machine:
# x:216 y:48
OperatableStateMachine.add('Container',
_sm_container_0,
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
return _state_machine
def create(self):
# x:456 y:478, x:347 y:237
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:365, x:487 y:245
_sm_guess_age_interaction_0 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_guess_age_interaction_0:
# x:153 y:68
OperatableStateMachine.add('smile',
FacialExpressionState(expression_num=1),
transitions={'continue': 'wait 1', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:378 y:48
OperatableStateMachine.add('wait 1',
WaitState(wait_time=1),
transitions={'done': 'blink'},
autonomy={'done': Autonomy.Off})
# x:605 y:69
OperatableStateMachine.add('blink',
FacialExpressionState(expression_num=2),
transitions={'continue': 'introduction', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:817 y:120
OperatableStateMachine.add('introduction',
TalkState(sentence_number=1),
transitions={'continue': 'listen for name', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:919 y:202
OperatableStateMachine.add('listen for name',
ListeningState(),
transitions={'continue': 'welcome to', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:1004 y:291
OperatableStateMachine.add('welcome to',
TalkState(sentence_number=2),
transitions={'continue': 'sub please take my photo', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:1027 y:401
OperatableStateMachine.add('sub please take my photo',
SubscriberState(topic='/stt_topic', blocking=True, clear=False),
transitions={'received': 'cond please take my photo', 'unavailable': 'failed'},
autonomy={'received': Autonomy.Off, 'unavailable': Autonomy.Off},
remapping={'message': 'message'})
# x:1025 y:515
OperatableStateMachine.add('cond please take my photo',
CheckConditionState(predicate=lambda message:message.data =="please take my photo"),
transitions={'true': 'cool go ahead', 'false': 'not heard take photo'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'input_value': 'message'})
# x:823 y:458
OperatableStateMachine.add('not heard take photo',
LogState(text=not yet heard "please take my photo", severity=Logger.REPORT_HINT),
transitions={'done': 'sub please take my photo'},
autonomy={'done': Autonomy.Off})
# x:938 y:641
OperatableStateMachine.add('cool go ahead',
TalkState(sentence_number=3),
transitions={'continue': 'finished', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:161 y:371, x:268 y:170
_sm_start_face_det_and_trk_1 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_start_face_det_and_trk_1:
# x:149 y:36
OperatableStateMachine.add('say face found',
TalkState(sentence_number=100),
transitions={'continue': 'face det trk', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:519 y:73
OperatableStateMachine.add('face det trk',
FaceDetTrack(),
transitions={'continue': 'say start face det trk', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:563 y:328
OperatableStateMachine.add('say start face det trk',
TalkState(sentence_number=101),
transitions={'continue': 'finished', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:128 y:223, x:130 y:365
_sm_stop_video_detects_and_tracks_2 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_stop_video_detects_and_tracks_2:
# x:135 y:64
OperatableStateMachine.add('stop obj det trk',
StopFaceDetectAndTrack(),
transitions={'continue': 'stop face det trk', 'failed': 'stop face det trk'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:410 y:78
OperatableStateMachine.add('stop face det trk',
StopFaceDetectAndTrack(),
transitions={'continue': 'stop video stream', 'failed': 'stop video stream'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:466 y:250
OperatableStateMachine.add('stop video stream',
StopCameraStream(),
transitions={'continue': 'finished', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:438 y:355, x:121 y:296
_sm_check_face_nearby_3 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_check_face_nearby_3:
# x:237 y:77
OperatableStateMachine.add('subscr face found topic',
SubscriberState(topic='/is_person_nearby', blocking=True, clear=False),
transitions={'received': 'face condition', 'unavailable': 'failed'},
autonomy={'received': Autonomy.Off, 'unavailable': Autonomy.Off},
remapping={'message': 'message'})
# x:521 y:63
OperatableStateMachine.add('face condition',
CheckConditionState(predicate=lambda message:message.data == "yes"),
transitions={'true': 'finished', 'false': 'no face found yet'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'input_value': 'message'})
# x:297 y:218
OperatableStateMachine.add('no face found yet',
LogState(text="no face found yet", severity=Logger.REPORT_HINT),
transitions={'done': 'subscr face found topic'},
autonomy={'done': Autonomy.Off})
# x:30 y:365, x:132 y:205
_sm_launch_stream_and_object_detector_4 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_launch_stream_and_object_detector_4:
# x:126 y:42
OperatableStateMachine.add('launch video stream',
LaunchVideoStream(),
transitions={'continue': 'say launching video', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:389 y:56
OperatableStateMachine.add('say launching video',
TalkState(sentence_number=99),
transitions={'continue': 'launch obj det trk', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:483 y:152
OperatableStateMachine.add('launch obj det trk',
LaunchObjDetectAndTrack(),
transitions={'continue': 'finished', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
with _state_machine:
# x:135 y:38
OperatableStateMachine.add('launch stream and object detector',
_sm_launch_stream_and_object_detector_4,
transitions={'finished': 'check face nearby', 'failed': 'stop video detects and tracks'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:469 y:33
OperatableStateMachine.add('check face nearby',
_sm_check_face_nearby_3,
transitions={'finished': 'stop obj det trk', 'failed': 'stop video detects and tracks'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:546 y:220
OperatableStateMachine.add('stop video detects and tracks',
_sm_stop_video_detects_and_tracks_2,
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:701 y:69
OperatableStateMachine.add('stop obj det trk',
StopObjectDetectAndTrack(),
transitions={'continue': 'start face det and trk', 'failed': 'stop video detects and tracks'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:892 y:135
OperatableStateMachine.add('start face det and trk',
_sm_start_face_det_and_trk_1,
transitions={'finished': 'guess age interaction', 'failed': 'stop video detects and tracks'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:887 y:356
OperatableStateMachine.add('guess age interaction',
_sm_guess_age_interaction_0,
transitions={'finished': 'finished', 'failed': 'stop video detects and tracks'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
return _state_machine
def create(self):
# x:284 y:484, x:47 y:223
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:454, x:130 y:454
_sm_take_photo_container_(guess_age)_0 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_take_photo_container_(guess_age)_0:
# x:124 y:43
OperatableStateMachine.add('ok if you are ready show me a big smile',
TalkState(sentence_number=3),
transitions={'continue': 'smile', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:699 y:57
OperatableStateMachine.add('wait as if take photo',
WaitState(wait_time=3),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:481 y:41
OperatableStateMachine.add('smile',
FacialExpressionState(expression_num=1),
transitions={'continue': 'wait as if take photo', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
with _state_machine:
# x:109 y:52
OperatableStateMachine.add('launch video',
LaunchVideoStream(),
transitions={'continue': 'starting object track talk', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:514 y:19
OperatableStateMachine.add('detect and track',
LaunchObjDetectAndTrack(),
transitions={'continue': 'subscriber_is_nearby_face_State', 'failed': 'stop face detect'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:734 y:20
OperatableStateMachine.add('subscriber_is_nearby_face_State',
SubscriberState(topic='/is_person_nearby', blocking=True, clear=False),
transitions={'received': 'check_if_nearby', 'unavailable': 'stop obj detect state'},
autonomy={'received': Autonomy.Off, 'unavailable': Autonomy.Off},
remapping={'message': 'message'})
# x:732 y:157
OperatableStateMachine.add('check_if_nearby',
CheckConditionState(predicate=lambda message:message.data == "yes"),
transitions={'true': 'stop obj detect state', 'false': 'logger'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'input_value': 'message'})
# x:588 y:115
OperatableStateMachine.add('logger',
LogState(text="false", severity=Logger.REPORT_HINT),
transitions={'done': 'subscriber_is_nearby_face_State'},
autonomy={'done': Autonomy.Off})
# x:935 y:201
OperatableStateMachine.add('stop obj detect state',
StopObjectDetectAndTrack(),
transitions={'continue': 'face identified', 'failed': 'stop face detect'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:960 y:281
OperatableStateMachine.add('launch face detect and track',
FaceDetTrack(),
transitions={'continue': 'wait to show face trk', 'failed': 'stop face detect'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:1178 y:285
OperatableStateMachine.add('wait to show face trk',
WaitState(wait_time=5),
transitions={'done': 'talk hello'},
autonomy={'done': Autonomy.Off})
# x:1165 y:361
OperatableStateMachine.add('talk hello',
TalkState(sentence_number=2),
transitions={'continue': 'listen_for_input_state', 'failed': 'stop face detect'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:342 y:308
OperatableStateMachine.add('stop face detect',
StopFaceDetectAndTrack(),
transitions={'continue': 'finished', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:967 y:38
OperatableStateMachine.add('face identified',
TalkState(sentence_number=100),
transitions={'continue': 'start face track', 'failed': 'stop obj detect state'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:1171 y:33
OperatableStateMachine.add('start face track',
TalkState(sentence_number=101),
transitions={'continue': 'launch face detect and track', 'failed': 'stop obj detect state'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:273 y:126
OperatableStateMachine.add('starting object track talk',
TalkState(sentence_number=99),
transitions={'continue': 'detect and track', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:1164 y:441
OperatableStateMachine.add('listen_for_input_state',
ListeningState(),
transitions={'continue': 'subscribe to user input1', 'failed': 'stop face detect'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:1160 y:516
OperatableStateMachine.add('subscribe to user input1',
SubscriberState(topic='/stt_topic', blocking=True, clear=False),
transitions={'received': 'check user input1', 'unavailable': 'stop face detect'},
autonomy={'received': Autonomy.Off, 'unavailable': Autonomy.Off},
remapping={'message': 'message_stt'})
# x:1180 y:590
OperatableStateMachine.add('check user input1',
CheckConditionState(predicate=lambda message: message.query =="please take my photo"),
transitions={'true': 'yes take photo', 'false': 'no take photo not received'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'input_value': 'message_stt'})
# x:1005 y:585
OperatableStateMachine.add('yes take photo',
LogState(text="yes take photo recieved", severity=Logger.REPORT_HINT),
transitions={'done': 'take photo container (guess age)'},
autonomy={'done': Autonomy.Off})
# x:1367 y:517
OperatableStateMachine.add('no take photo not received',
LogState(text="no not recieved take photo", severity=Logger.REPORT_HINT),
transitions={'done': 'listen_for_input_state'},
autonomy={'done': Autonomy.Off})
# x:727 y:532
OperatableStateMachine.add('take photo container (guess age)',
_sm_take_photo_container_(guess_age)_0,
transitions={'finished': 'left container', 'failed': 'stop face detect'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:585 y:606
OperatableStateMachine.add('left container',
LogState(text="left container - now back on main", severity=Logger.REPORT_HINT),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:30 y:344, x:202 y:205
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:53 y:52
OperatableStateMachine.add('launch vid',
LaunchVideoStream(vid_input_num=0),
transitions={
'continue': 'launch faceserv',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:305 y:35
OperatableStateMachine.add('launch faceserv',
LaunchFaceServer(),
transitions={
'continue': 'facetrk',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:508 y:38
OperatableStateMachine.add('facetrk',
FaceDetTrack(),
transitions={
'continue': 'commence',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:1085 y:460
OperatableStateMachine.add('8',
WaitState(wait_time=6),
transitions={'done': 'subnamestring'},
autonomy={'done': Autonomy.Off})
# x:124 y:526
OperatableStateMachine.add('stopfacetrk',
StopFaceDetectAndTrack(),
transitions={
'continue': 'stopfacesrv',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:125 y:422
OperatableStateMachine.add('stopfacesrv',
StopFaceServer(),
transitions={
'continue': 'stopvid',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:134 y:283
OperatableStateMachine.add('stopvid',
StopCameraStream(),
transitions={
'continue': 'finished',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:1041 y:215
OperatableStateMachine.add('identify',
IdentifyState(),
transitions={
'continue': 'hat',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:837 y:91
OperatableStateMachine.add('commence',
TalkState(sentence_number=17),
transitions={
'continue': 'identify',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:916 y:471
OperatableStateMachine.add(
'subnamestring',
SubscriberState(topic='/identified_people_string_name',
blocking=True,
clear=False),
transitions={
'received': 'one',
'unavailable': 'failed'
},
autonomy={
'received': Autonomy.Off,
'unavailable': Autonomy.Off
},
remapping={'message': 'message_name'})
# x:766 y:474
OperatableStateMachine.add('one',
WaitState(wait_time=1),
transitions={'done': 'chkstrng'},
autonomy={'done': Autonomy.Off})
# x:577 y:490
OperatableStateMachine.add(
'chkstrng',
WordCheckingStringState(key_word="Gal Moore"),
transitions={
'found': 'yes',
'not_found': 'no'
},
autonomy={
'found': Autonomy.Off,
'not_found': Autonomy.Off
},
remapping={'input_value': 'message_name'})
# x:381 y:586
OperatableStateMachine.add('yes',
TalkState(sentence_number=18),
transitions={
'continue': 'stopfacetrk',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:404 y:396
OperatableStateMachine.add('no',
TalkState(sentence_number=19),
transitions={
'continue': 'stopfacetrk',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:1055 y:323
OperatableStateMachine.add('hat',
TalkState(sentence_number=20),
transitions={
'continue': '8',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
return _state_machine
def create(self):
# x:154 y:236, x:130 y:410
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:77 y:297, x:130 y:392
_sm_got_permission_0 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_got_permission_0:
# x:100 y:65
OperatableStateMachine.add('go ahead',
TalkState(sentence_number=3),
transitions={'continue': 'wait till robot finish talking', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:519 y:139
OperatableStateMachine.add('smile',
FacialExpressionState(expression_num=1),
transitions={'continue': 'sub', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:368 y:43
OperatableStateMachine.add('wait till robot finish talking',
WaitState(wait_time=5),
transitions={'done': 'smile'},
autonomy={'done': Autonomy.Off})
# x:819 y:114
OperatableStateMachine.add('sub',
SubscriberState(topic='/ros_openvino_toolkit/age_genders_Recognition', blocking=True, clear=False),
transitions={'received': 'check age gender', 'unavailable': 'failed'},
autonomy={'received': Autonomy.Off, 'unavailable': Autonomy.Off},
remapping={'message': 'message'})
# x:901 y:198
OperatableStateMachine.add('check age gender',
AgeGenderCheckingState(),
transitions={'found': 'check what to say', 'not_found': 'check what to say'},
autonomy={'found': Autonomy.Off, 'not_found': Autonomy.Off},
remapping={'input_value': 'message', 'age': 'age', 'gender': 'gender'})
# x:853 y:391
OperatableStateMachine.add('check what to say',
AgeGenderCheckSpeechState(),
transitions={'found': 'wait', 'not_found': 'wait'},
autonomy={'found': Autonomy.Off, 'not_found': Autonomy.Off},
remapping={'age': 'age', 'gender': 'gender'})
# x:904 y:506
OperatableStateMachine.add('wait',
WaitState(wait_time=2),
transitions={'done': 'was I right or'},
autonomy={'done': Autonomy.Off})
# x:715 y:514
OperatableStateMachine.add('was I right or',
TalkState(sentence_number=14),
transitions={'continue': 'graucho', 'failed': 'graucho'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:518 y:611
OperatableStateMachine.add('graucho',
FacialExpressionState(expression_num=3),
transitions={'continue': 'good bye', 'failed': 'good bye'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:475 y:465
OperatableStateMachine.add('good bye',
TalkState(sentence_number=12),
transitions={'continue': 'finished', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:343 y:584, x:501 y:192
_sm_guess_age_interaction_1 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_guess_age_interaction_1:
# x:27 y:84
OperatableStateMachine.add('smile',
FacialExpressionState(expression_num=1),
transitions={'continue': 'wait2', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:210 y:70
OperatableStateMachine.add('wait2',
WaitState(wait_time=2),
transitions={'done': 'blink'},
autonomy={'done': Autonomy.Off})
# x:329 y:43
OperatableStateMachine.add('blink',
FacialExpressionState(expression_num=2),
transitions={'continue': 'welcome whats your name', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:498 y:19
OperatableStateMachine.add('welcome whats your name',
TalkState(sentence_number=1),
transitions={'continue': 'calib1', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:1089 y:151
OperatableStateMachine.add('welcome',
TalkState(sentence_number=2),
transitions={'continue': 'wait till finished talking', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:1035 y:254
OperatableStateMachine.add('user input please take photo',
ListeningState(),
transitions={'continue': 'wait 1 second', 'failed': 'wait 1 second'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'input_value': 'message'})
# x:1286 y:154
OperatableStateMachine.add('wait till finished talking',
WaitState(wait_time=1),
transitions={'done': 'user input please take photo'},
autonomy={'done': Autonomy.Off})
# x:958 y:424
OperatableStateMachine.add('wait 1 second',
WaitState(wait_time=1),
transitions={'done': 'SUBTORESPONSE'},
autonomy={'done': Autonomy.Off})
# x:1053 y:586
OperatableStateMachine.add('got permission',
_sm_got_permission_0,
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:1153 y:431
OperatableStateMachine.add('SUBTORESPONSE',
SubscriberState(topic='/is_robot_listening', blocking=True, clear=False),
transitions={'received': 'CHKCOND', 'unavailable': 'CHKCOND'},
autonomy={'received': Autonomy.Off, 'unavailable': Autonomy.Off},
remapping={'message': 'message'})
# x:1365 y:430
OperatableStateMachine.add('CHKCOND',
CheckConditionState(predicate=lambda message: message.data == "not listening"),
transitions={'true': 'log', 'false': 'SUBTORESPONSE'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'input_value': 'message'})
# x:1351 y:558
OperatableStateMachine.add('log',
LogState(text="got input from user", severity=Logger.REPORT_HINT),
transitions={'done': 'got permission'},
autonomy={'done': Autonomy.Off})
# x:1095 y:14
OperatableStateMachine.add('listenuserinput',
ListeningState(),
transitions={'continue': 'waitwait', 'failed': 'waitwait'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'input_value': 'message'})
# x:1296 y:12
OperatableStateMachine.add('waitwait',
WaitState(wait_time=1),
transitions={'done': 'substate'},
autonomy={'done': Autonomy.Off})
# x:1401 y:16
OperatableStateMachine.add('substate',
SubscriberState(topic='/is_robot_listening', blocking=True, clear=False),
transitions={'received': 'chekcont', 'unavailable': 'chekcont'},
autonomy={'received': Autonomy.Off, 'unavailable': Autonomy.Off},
remapping={'message': 'message_listen'})
# x:839 y:94
OperatableStateMachine.add('chekcont',
CheckConditionState(predicate=lambda message: message.data == "not listening"),
transitions={'true': 'welcome', 'false': 'substate'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'input_value': 'message_listen'})
# x:716 y:13
OperatableStateMachine.add('calib1',
SoundCalibState(length_of_calibration=60),
transitions={'continue': 'sub5', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:921 y:13
OperatableStateMachine.add('sub5',
SubscriberState(topic='/avg_ambience_vol', blocking=True, clear=False),
transitions={'received': 'listenuserinput', 'unavailable': 'failed'},
autonomy={'received': Autonomy.Off, 'unavailable': Autonomy.Off},
remapping={'message': 'message'})
# x:555 y:314, x:343 y:251
_sm_start_face__2 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_start_face__2:
# x:90 y:59
OperatableStateMachine.add('say face found',
TalkState(sentence_number=100),
transitions={'continue': 'start face', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:391 y:73
OperatableStateMachine.add('start face',
FaceDetTrack(),
transitions={'continue': 'finished', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:582 y:410, x:130 y:365
_sm_check_face_nearby_3 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_check_face_nearby_3:
# x:335 y:73
OperatableStateMachine.add('sub face nearby',
SubscriberState(topic='/is_person_nearby', blocking=True, clear=False),
transitions={'received': 'face condition', 'unavailable': 'failed'},
autonomy={'received': Autonomy.Off, 'unavailable': Autonomy.Off},
remapping={'message': 'message'})
# x:517 y:113
OperatableStateMachine.add('face condition',
CheckConditionState(predicate=lambda message: message.data == "yes"),
transitions={'true': 'finished', 'false': 'log'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'input_value': 'message'})
# x:367 y:223
OperatableStateMachine.add('log',
LogState(text="no face yet", severity=Logger.REPORT_HINT),
transitions={'done': 'sub face nearby'},
autonomy={'done': Autonomy.Off})
# x:159 y:294, x:262 y:532
_sm_stop_video_detects_and_tracks_4 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_stop_video_detects_and_tracks_4:
# x:347 y:146
OperatableStateMachine.add('stop obj',
StopObjectDetectAndTrack(),
transitions={'continue': 'stop face', 'failed': 'stop face'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:621 y:167
OperatableStateMachine.add('stop face',
StopFaceDetectAndTrack(),
transitions={'continue': 'stop video', 'failed': 'stop video'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:439 y:323
OperatableStateMachine.add('stop video',
StopCameraStream(),
transitions={'continue': 'finished', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:375 y:332, x:227 y:202
_sm_launch_video_stream_and_object_detector_5 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_launch_video_stream_and_object_detector_5:
# x:120 y:76
OperatableStateMachine.add('video stream',
LaunchVideoStream(vid_input_num=1),
transitions={'continue': 'say launch obj', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:405 y:63
OperatableStateMachine.add('say launch obj',
TalkState(sentence_number=99),
transitions={'continue': 'launch obj', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:647 y:168
OperatableStateMachine.add('launch obj',
LaunchObjDetectAndTrack(),
transitions={'continue': 'launch face server', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:649 y:298
OperatableStateMachine.add('launch face server',
LaunchFaceServer(),
transitions={'continue': 'finished', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
with _state_machine:
# x:46 y:63
OperatableStateMachine.add('launch video stream and object detector',
_sm_launch_video_stream_and_object_detector_5,
transitions={'finished': 'wait5', 'failed': 'stop video detects and tracks'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:372 y:534
OperatableStateMachine.add('stop video detects and tracks',
_sm_stop_video_detects_and_tracks_4,
transitions={'finished': 'launch video stream and object detector', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:540 y:64
OperatableStateMachine.add('check face nearby',
_sm_check_face_nearby_3,
transitions={'finished': 'stop obj', 'failed': 'stop video detects and tracks'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:815 y:53
OperatableStateMachine.add('stop obj',
StopObjectDetectAndTrack(),
transitions={'continue': 'start face ', 'failed': 'stop video detects and tracks'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:906 y:199
OperatableStateMachine.add('start face ',
_sm_start_face__2,
transitions={'finished': 'wait3', 'failed': 'stop video detects and tracks'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:390 y:36
OperatableStateMachine.add('wait5',
WaitState(wait_time=5),
transitions={'done': 'check face nearby'},
autonomy={'done': Autonomy.Off})
# x:954 y:322
OperatableStateMachine.add('wait3',
WaitState(wait_time=2),
transitions={'done': 'guess age interaction'},
autonomy={'done': Autonomy.Off})
# x:878 y:457
OperatableStateMachine.add('guess age interaction',
_sm_guess_age_interaction_1,
transitions={'finished': 'stop video detects and tracks', 'failed': 'stop video detects and tracks'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
return _state_machine
def create(self):
# x:518 y:618, x:130 y:365
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:77 y:44
OperatableStateMachine.add('1',
LaunchVideoStream(),
transitions={
'continue': '2',
'failed': '5'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:280 y:40
OperatableStateMachine.add('2',
FaceDetTrack(),
transitions={
'continue': '3',
'failed': '6'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:482 y:25
OperatableStateMachine.add(
'3',
WaitState(wait_time=5),
transitions={'done': 'sub to age and gendre'},
autonomy={'done': Autonomy.Off})
# x:647 y:100
OperatableStateMachine.add(
'sub to age and gendre',
SubscriberState(
topic='/ros_openvino_toolkit/age_genders_Recognition',
blocking=True,
clear=False),
transitions={
'received': '7',
'unavailable': '6'
},
autonomy={
'received': Autonomy.Off,
'unavailable': Autonomy.Off
},
remapping={'message': 'message'})
# x:283 y:347
OperatableStateMachine.add('5',
StopCameraStream(),
transitions={
'continue': 'finished',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:493 y:401
OperatableStateMachine.add('6',
StopFaceDetectAndTrack(),
transitions={
'continue': '5',
'failed': '5'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
})
# x:820 y:229
OperatableStateMachine.add('7',
AgeGenderCheckingState(),
transitions={
'found': 'what to say',
'not_found': 'what to say'
},
autonomy={
'found': Autonomy.Off,
'not_found': Autonomy.Off
},
remapping={
'input_value': 'message',
'age': 'age',
'gender': 'gender'
})
# x:780 y:427
OperatableStateMachine.add('what to say',
AgeGenderCheckSpeechState(),
transitions={
'found': '6',
'not_found': '6'
},
autonomy={
'found': Autonomy.Off,
'not_found': Autonomy.Off
},
remapping={
'age': 'age',
'gender': 'gender'
})
return _state_machine
def create(self):
# x:174 y:518, x:535 y:33
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:372, x:130 y:372
_sm_joke_0 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_joke_0:
# x:83 y:58
OperatableStateMachine.add('startfacedettrk2',
FaceDetTrack(),
transitions={'continue': 'great', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:465 y:94
OperatableStateMachine.add('44',
TalkState(sentence_number=44),
transitions={'continue': 'readcalib', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:696 y:130
OperatableStateMachine.add('listenn',
ListeningState(),
transitions={'continue': 'readquery', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'input_value': 'calib_vol'})
# x:695 y:30
OperatableStateMachine.add('readcalib',
ReadTxtState(txt_path="/home/intel/catkin_ws/src/robot_ears/text_files/volume_calib.txt"),
transitions={'unavailable': 'failed', 'got_message': 'listenn'},
autonomy={'unavailable': Autonomy.Off, 'got_message': Autonomy.Off},
remapping={'message': 'calib_vol'})
# x:708 y:235
OperatableStateMachine.add('readquery',
ReadTxtState(txt_path="/home/intel/catkin_ws/src/robot_ears/text_files/query.txt"),
transitions={'unavailable': 'failed', 'got_message': '43'},
autonomy={'unavailable': Autonomy.Off, 'got_message': Autonomy.Off},
remapping={'message': 'message'})
# x:712 y:329
OperatableStateMachine.add('43',
TalkState(sentence_number=43),
transitions={'continue': 'lllisten', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:713 y:433
OperatableStateMachine.add('lllisten',
ListeningState(),
transitions={'continue': 'ttlk45', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'input_value': 'calib_vol'})
# x:487 y:468
OperatableStateMachine.add('ttlk45',
TalkState(sentence_number=45),
transitions={'continue': '46', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:275 y:461
OperatableStateMachine.add('46',
TalkState(sentence_number=46),
transitions={'continue': 'stopffcedettrk', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:83 y:558
OperatableStateMachine.add('stopffcedettrk',
StopFaceDetectAndTrack(),
transitions={'continue': 'finished', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:270 y:113
OperatableStateMachine.add('great',
TalkState(sentence_number=42),
transitions={'continue': '44', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:372 y:465, x:183 y:214
_sm_waking_up_1 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_waking_up_1:
# x:181 y:75
OperatableStateMachine.add('facial gestures eyes mouth only',
FacialGesturesState(),
transitions={'continue': 'decide_talk', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:612 y:466
OperatableStateMachine.add('3',
WaitState(wait_time=2),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:719 y:238
OperatableStateMachine.add('40',
TalkState(sentence_number=40),
transitions={'continue': '41', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:712 y:335
OperatableStateMachine.add('41',
TalkState(sentence_number=41),
transitions={'continue': '3', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:527 y:239
OperatableStateMachine.add('51',
TalkState(sentence_number=51),
transitions={'continue': '52', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:528 y:333
OperatableStateMachine.add('52',
TalkState(sentence_number=52),
transitions={'continue': '3', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:556 y:35
OperatableStateMachine.add('decide_talk',
DecideTalkState(),
transitions={'continue1': '51', 'continue2': '40', 'continue3': '53'},
autonomy={'continue1': Autonomy.Off, 'continue2': Autonomy.Off, 'continue3': Autonomy.Off})
# x:371 y:153
OperatableStateMachine.add('53',
TalkState(sentence_number=53),
transitions={'continue': '54', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:376 y:338
OperatableStateMachine.add('54',
TalkState(sentence_number=54),
transitions={'continue': '3', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:30 y:338, x:364 y:249
_sm_object_detection_till_face_nearby_2 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_object_detection_till_face_nearby_2:
# x:47 y:244
OperatableStateMachine.add('killfacegesture1',
KillFacialGesturesState(),
transitions={'continue': 'obj det trk', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:798 y:215
OperatableStateMachine.add('chk person',
CheckConditionState(predicate=lambda person_message: person_message.data == "yes"),
transitions={'true': 'decidetalk56', 'false': 'sub person'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'input_value': 'person_message'})
# x:308 y:364
OperatableStateMachine.add('stop obj trk',
StopObjectDetectAndTrack(),
transitions={'continue': 'finished', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:503 y:74
OperatableStateMachine.add('strtdobj',
TalkState(sentence_number=25),
transitions={'continue': 'sub person', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:592 y:305
OperatableStateMachine.add('found face ',
TalkState(sentence_number=24),
transitions={'continue': 'stop obj trk', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:908 y:45
OperatableStateMachine.add('sub person',
SubscriberState(topic='/is_person_nearby', blocking=True, clear=False),
transitions={'received': 'chk person', 'unavailable': 'chk person'},
autonomy={'received': Autonomy.Off, 'unavailable': Autonomy.Off},
remapping={'message': 'person_message'})
# x:288 y:30
OperatableStateMachine.add('decidetalk5',
DecideTalkState(),
transitions={'continue1': 'strtdobj', 'continue2': '61', 'continue3': '62'},
autonomy={'continue1': Autonomy.Off, 'continue2': Autonomy.Off, 'continue3': Autonomy.Off})
# x:503 y:148
OperatableStateMachine.add('61',
TalkState(sentence_number=61),
transitions={'continue': 'sub person', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:506 y:213
OperatableStateMachine.add('62',
TalkState(sentence_number=62),
transitions={'continue': 'sub person', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:792 y:381
OperatableStateMachine.add('decidetalk56',
DecideTalkState(),
transitions={'continue1': 'found face ', 'continue2': '63t', 'continue3': '64t'},
autonomy={'continue1': Autonomy.Off, 'continue2': Autonomy.Off, 'continue3': Autonomy.Off})
# x:593 y:371
OperatableStateMachine.add('63t',
TalkState(sentence_number=63),
transitions={'continue': 'stop obj trk', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:585 y:442
OperatableStateMachine.add('64t',
TalkState(sentence_number=64),
transitions={'continue': 'stop obj trk', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:102 y:77
OperatableStateMachine.add('startfacialgestures',
FacialGesturesState(),
transitions={'continue': 'decidetalk5', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:95 y:156
OperatableStateMachine.add('obj det trk',
LaunchObjDetectAndTrack(),
transitions={'continue': 'startfacialgestures', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:30 y:408, x:370 y:201
_sm_what_do_next_3 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_what_do_next_3:
# x:322 y:25
OperatableStateMachine.add('decidetllk2',
DecideTalkState(),
transitions={'continue1': 't29', 'continue2': '57', 'continue3': '60'},
autonomy={'continue1': Autonomy.Off, 'continue2': Autonomy.Off, 'continue3': Autonomy.Off})
# x:30 y:132
OperatableStateMachine.add('t30',
TalkState(sentence_number=30),
transitions={'continue': '31', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:30 y:224
OperatableStateMachine.add('31',
TalkState(sentence_number=31),
transitions={'continue': '32', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:30 y:316
OperatableStateMachine.add('32',
TalkState(sentence_number=32),
transitions={'continue': 'finished', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:582 y:225
OperatableStateMachine.add('57',
TalkState(sentence_number=57),
transitions={'continue': '59', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:99 y:34
OperatableStateMachine.add('59',
TalkState(sentence_number=59),
transitions={'continue': 't30', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:554 y:324
OperatableStateMachine.add('60',
TalkState(sentence_number=60),
transitions={'continue': '59', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:584 y:151
OperatableStateMachine.add('t29',
TalkState(sentence_number=29),
transitions={'continue': '59', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:256 y:317, x:458 y:279
_sm_identify_4 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_identify_4:
# x:166 y:76
OperatableStateMachine.add('start face det trk',
FaceDetTrack(),
transitions={'continue': 't17', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:382 y:59
OperatableStateMachine.add('t17',
TalkState(sentence_number=17),
transitions={'continue': 'identify', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:587 y:33
OperatableStateMachine.add('identify',
IdentifyState(),
transitions={'continue': 't20', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:807 y:28
OperatableStateMachine.add('t20',
TalkState(sentence_number=20),
transitions={'continue': 'w6', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:1045 y:34
OperatableStateMachine.add('w6',
WaitState(wait_time=6),
transitions={'done': 'subbb'},
autonomy={'done': Autonomy.Off})
# x:606 y:165
OperatableStateMachine.add('subbb',
SubscriberState(topic='/identified_people_string_name', blocking=True, clear=False),
transitions={'received': 'w1', 'unavailable': 'log no sub'},
autonomy={'received': Autonomy.Off, 'unavailable': Autonomy.Off},
remapping={'message': 'message_name'})
# x:832 y:144
OperatableStateMachine.add('w1',
WaitState(wait_time=1),
transitions={'done': 'cchker gal'},
autonomy={'done': Autonomy.Off})
# x:1050 y:142
OperatableStateMachine.add('cchker gal',
WordCheckingStringState(key_word="Gal Moore"),
transitions={'found': 'f18', 'not_found': 'chk2 coral'},
autonomy={'found': Autonomy.Off, 'not_found': Autonomy.Off},
remapping={'input_value': 'message_name'})
# x:842 y:225
OperatableStateMachine.add('f18',
TalkState(sentence_number=18),
transitions={'continue': '50 auth coplete', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:1042 y:737
OperatableStateMachine.add('19',
TalkState(sentence_number=19),
transitions={'continue': 'stpfacetrk', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:509 y:504
OperatableStateMachine.add('stpfacetrk',
StopFaceDetectAndTrack(),
transitions={'continue': 'stop identify', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:608 y:272
OperatableStateMachine.add('log no sub',
LogState(text="no available lkog log", severity=Logger.REPORT_HINT),
transitions={'done': 'subbb'},
autonomy={'done': Autonomy.Off})
# x:270 y:471
OperatableStateMachine.add('stop identify',
StopIdentifyState(),
transitions={'continue': 'finished', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:1051 y:236
OperatableStateMachine.add('chk2 coral',
WordCheckingStringState(key_word="coral"),
transitions={'found': '47 coral', 'not_found': 'chek3 yona'},
autonomy={'found': Autonomy.Off, 'not_found': Autonomy.Off},
remapping={'input_value': 'message_name'})
# x:1049 y:338
OperatableStateMachine.add('chek3 yona',
WordCheckingStringState(key_word="yona"),
transitions={'found': '48 yona', 'not_found': 'check4 yaeli'},
autonomy={'found': Autonomy.Off, 'not_found': Autonomy.Off},
remapping={'input_value': 'message_name'})
# x:1061 y:445
OperatableStateMachine.add('check4 yaeli',
WordCheckingStringState(key_word="yaeli"),
transitions={'found': '49', 'not_found': 'chk zeev'},
autonomy={'found': Autonomy.Off, 'not_found': Autonomy.Off},
remapping={'input_value': 'message_name'})
# x:645 y:373
OperatableStateMachine.add('50 auth coplete',
TalkState(sentence_number=50),
transitions={'continue': 'stpfacetrk', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:843 y:283
OperatableStateMachine.add('47 coral',
TalkState(sentence_number=47),
transitions={'continue': '50 auth coplete', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:841 y:356
OperatableStateMachine.add('48 yona',
TalkState(sentence_number=48),
transitions={'continue': '50 auth coplete', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:837 y:430
OperatableStateMachine.add('49',
TalkState(sentence_number=49),
transitions={'continue': '50 auth coplete', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:1047 y:555
OperatableStateMachine.add('chk zeev',
WordCheckingStringState(key_word="zeev"),
transitions={'found': 'zeev65', 'not_found': '19'},
autonomy={'found': Autonomy.Off, 'not_found': Autonomy.Off},
remapping={'input_value': 'message_name'})
# x:841 y:519
OperatableStateMachine.add('zeev65',
TalkState(sentence_number=65),
transitions={'continue': '50 auth coplete', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:30 y:365, x:172 y:294
_sm_game_5 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_game_5:
# x:40 y:41
OperatableStateMachine.add('face trk',
FaceDetTrack(),
transitions={'continue': 't36', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:240 y:43
OperatableStateMachine.add('t37',
TalkState(sentence_number=37),
transitions={'continue': 't38', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:460 y:41
OperatableStateMachine.add('t38',
TalkState(sentence_number=38),
transitions={'continue': 'sub vino age gendre', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:699 y:70
OperatableStateMachine.add('sub vino age gendre',
SubscriberState(topic='/ros_openvino_toolkit/age_genders_Recognition', blocking=True, clear=False),
transitions={'received': 'agegendchek', 'unavailable': 'log'},
autonomy={'received': Autonomy.Off, 'unavailable': Autonomy.Off},
remapping={'message': 'message'})
# x:626 y:228
OperatableStateMachine.add('agegendchek',
AgeGenderCheckingState(),
transitions={'found': 'chkspch', 'not_found': 'chkspch'},
autonomy={'found': Autonomy.Off, 'not_found': Autonomy.Off},
remapping={'input_value': 'message', 'age': 'age', 'gender': 'gender'})
# x:672 y:384
OperatableStateMachine.add('chkspch',
AgeGenderCheckSpeechState(),
transitions={'found': 'stopface trk', 'not_found': 'stopface trk'},
autonomy={'found': Autonomy.Off, 'not_found': Autonomy.Off},
remapping={'age': 'age', 'gender': 'gender'})
# x:58 y:174
OperatableStateMachine.add('t36',
TalkState(sentence_number=36),
transitions={'continue': 't37', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:392 y:462
OperatableStateMachine.add('stopface trk',
StopFaceDetectAndTrack(),
transitions={'continue': 'finished', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:874 y:21
OperatableStateMachine.add('log',
LogState(text="log", severity=Logger.REPORT_HINT),
transitions={'done': 'sub vino age gendre'},
autonomy={'done': Autonomy.Off})
# x:202 y:510, x:130 y:365
_sm_tracking_6 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_tracking_6:
# x:118 y:83
OperatableStateMachine.add('stopdettrkface',
StopFaceDetectAndTrack(),
transitions={'continue': 'decide_what_sy', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:439 y:266
OperatableStateMachine.add('35',
TalkState(sentence_number=35),
transitions={'continue': 'finished', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:475 y:80
OperatableStateMachine.add('decide_what_sy',
DecideTalkState(),
transitions={'continue1': '35', 'continue2': 'talk55', 'continue3': 'talk56'},
autonomy={'continue1': Autonomy.Off, 'continue2': Autonomy.Off, 'continue3': Autonomy.Off})
# x:651 y:272
OperatableStateMachine.add('talk55',
TalkState(sentence_number=55),
transitions={'continue': 'finished', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:260 y:221
OperatableStateMachine.add('talk56',
TalkState(sentence_number=56),
transitions={'continue': 'finished', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:1214 y:584, x:130 y:368, x:849 y:566, x:938 y:579, x:793 y:382, x:1024 y:542
_sm_user_input_speech_7 = OperatableStateMachine(outcomes=['finished', 'failed', 'identification', 'game', 'tracking', 'joke'])
with _sm_user_input_speech_7:
# x:105 y:65
OperatableStateMachine.add('calib',
SoundCalibState(length_of_calibration=5),
transitions={'continue': 'read1', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:477 y:315
OperatableStateMachine.add('word chk "tracking"',
WordCheckingState(key_word="tracking"),
transitions={'found': 'tracking', 'not_found': 'wrd chk "identification"'},
autonomy={'found': Autonomy.Off, 'not_found': Autonomy.Off},
remapping={'input_value': 'message'})
# x:701 y:294
OperatableStateMachine.add('wrd chk "identification"',
WordCheckingState(key_word="identification"),
transitions={'found': 'identification', 'not_found': 'wrd chk "game"'},
autonomy={'found': Autonomy.Off, 'not_found': Autonomy.Off},
remapping={'input_value': 'message'})
# x:873 y:293
OperatableStateMachine.add('wrd chk "game"',
WordCheckingState(key_word="game"),
transitions={'found': 'game', 'not_found': 'wrd chek "joke"'},
autonomy={'found': Autonomy.Off, 'not_found': Autonomy.Off},
remapping={'input_value': 'message'})
# x:1209 y:475
OperatableStateMachine.add('39',
TalkState(sentence_number=39),
transitions={'continue': 'tracking', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:417 y:112
OperatableStateMachine.add('read1',
ReadTxtState(txt_path="/home/intel/catkin_ws/src/robot_ears/text_files/volume_calib.txt"),
transitions={'unavailable': 'failed', 'got_message': 'listen1'},
autonomy={'unavailable': Autonomy.Off, 'got_message': Autonomy.Off},
remapping={'message': 'calib1'})
# x:818 y:68
OperatableStateMachine.add('read2',
ReadTxtState(txt_path="/home/intel/catkin_ws/src/robot_ears/text_files/query.txt"),
transitions={'unavailable': 'failed', 'got_message': 'stopfacedettrk22'},
autonomy={'unavailable': Autonomy.Off, 'got_message': Autonomy.Off},
remapping={'message': 'message'})
# x:637 y:209
OperatableStateMachine.add('stopfacedettrk22',
StopFaceDetectAndTrack(),
transitions={'continue': 'word chk "tracking"', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:607 y:31
OperatableStateMachine.add('listen1',
ListeningState(),
transitions={'continue': 'read2', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'input_value': 'calib1'})
# x:1132 y:279
OperatableStateMachine.add('wrd chek "joke"',
WordCheckingState(key_word="joke"),
transitions={'found': 'joke', 'not_found': '39'},
autonomy={'found': Autonomy.Off, 'not_found': Autonomy.Off},
remapping={'input_value': 'message'})
# x:195 y:308, x:402 y:431
_sm_face_det_and_start_interaction_ask_user_what_next_8 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_face_det_and_start_interaction_ask_user_what_next_8:
# x:52 y:220
OperatableStateMachine.add('face det trk',
FaceDetTrack(),
transitions={'continue': 'killfacialgestures', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:814 y:163
OperatableStateMachine.add('tlk2',
TalkState(sentence_number=2),
transitions={'continue': 'finished', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:326 y:31
OperatableStateMachine.add('tlk3',
TalkState(sentence_number=27),
transitions={'continue': 'talk4', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:543 y:43
OperatableStateMachine.add('talk4',
TalkState(sentence_number=28),
transitions={'continue': 'graucho', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:797 y:64
OperatableStateMachine.add('graucho',
FacialExpressionState(expression_num=3),
transitions={'continue': 'welcome', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:555 y:165
OperatableStateMachine.add('welcome',
TalkState(sentence_number=1),
transitions={'continue': 'tlk2', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:58 y:112
OperatableStateMachine.add('killfacialgestures',
KillFacialGesturesState(),
transitions={'continue': 'gesturesfacedet', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:145 y:36
OperatableStateMachine.add('gesturesfacedet',
FacialGesturesFaceDetState(),
transitions={'continue': 'tlk3', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:30 y:365, x:237 y:222
_sm_face_server_video_and_arduino_init_9 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_face_server_video_and_arduino_init_9:
# x:54 y:82
OperatableStateMachine.add('launch video',
LaunchVideoStream(vid_input_num=0),
transitions={'continue': 'init face server', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:308 y:86
OperatableStateMachine.add('init face server',
LaunchFaceServer(),
transitions={'continue': 'init arduino', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:493 y:204
OperatableStateMachine.add('init arduino',
LaunchArduinoLed(),
transitions={'continue': '23', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
# x:466 y:484
OperatableStateMachine.add('23',
TalkState(sentence_number=23),
transitions={'continue': 'finished', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
with _state_machine:
# x:30 y:40
OperatableStateMachine.add('face server video and arduino init',
_sm_face_server_video_and_arduino_init_9,
transitions={'finished': 'waking up', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:796 y:38
OperatableStateMachine.add('face det and start interaction ask user what next',
_sm_face_det_and_start_interaction_ask_user_what_next_8,
transitions={'finished': 'what do next', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:454 y:512
OperatableStateMachine.add('user input speech',
_sm_user_input_speech_7,
transitions={'finished': 'finished', 'failed': 'failed', 'identification': 'identify', 'game': 'game', 'tracking': 'tracking', 'joke': 'joke'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'identification': Autonomy.Inherit, 'game': Autonomy.Inherit, 'tracking': Autonomy.Inherit, 'joke': Autonomy.Inherit})
# x:721 y:192
OperatableStateMachine.add('tracking',
_sm_tracking_6,
transitions={'finished': 'object detection till face nearby', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:727 y:275
OperatableStateMachine.add('game',
_sm_game_5,
transitions={'finished': 'object detection till face nearby', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:738 y:361
OperatableStateMachine.add('identify',
_sm_identify_4,
transitions={'finished': 'object detection till face nearby', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:288 y:423
OperatableStateMachine.add('what do next',
_sm_what_do_next_3,
transitions={'finished': 'user input speech', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:1001 y:181
OperatableStateMachine.add('object detection till face nearby',
_sm_object_detection_till_face_nearby_2,
transitions={'finished': 'face det and start interaction ask user what next', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:286 y:202
OperatableStateMachine.add('waking up',
_sm_waking_up_1,
transitions={'finished': 'tracking', 'failed': 'finished'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:739 y:488
OperatableStateMachine.add('joke',
_sm_joke_0,
transitions={'finished': 'object detection till face nearby', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
return _state_machine