def create_statemachine(self, state_machine_model):
NestedState.separator = ':'
states = [{
'name':
'base',
'children': ['not_ready', 'ready', 'active', 'fail', 'processing']
}]
transitions = [['start', 'base', 'base:not_ready'],
['unavailable', 'base', 'base:not_ready'],
['deactivate', 'base', 'base:not_ready'],
['activate', 'base:not_ready', 'base:active'],
['idle', 'base:not_ready', 'base:ready'],
['ready', 'base:ready', 'base:active'],
['activate', 'base:ready', 'base:active'],
['idle', 'base:active', 'base:ready'],
['not_ready', 'base:active', 'base:ready'],
['failure', 'base:active', 'base:fail'],
['active', 'base:active', 'base:processing'],
['idle', 'base:processing', 'base:fail'],
['ready', 'base:processing', 'base:fail'],
['not_ready', 'base:processing', 'base:fail'],
['active', 'base:processing', 'base:fail'],
['activate', 'base:processing', 'base:fail'],
['fail', 'base:processing', 'base:fail'],
['idle', 'base:fail', 'base:ready'],
['ready', 'base:fail', 'base:ready'],
['not_ready', 'base:fail', 'base:ready'],
['active', 'base:fail', 'base:ready'],
['activate', 'base:fail', 'base:ready'],
['failure', 'base:fail', 'base:ready'],
['complete', 'base:fail', 'base:ready'], {
'trigger': 'complete',
'source': 'base:processing',
'dest': 'base:not_ready',
'after': 'COMPLETE'
}, ['default', 'base:processing', 'base:fail'],
['default', 'base:fail', 'base:ready'],
['default', 'base:not_ready', 'base:not_ready'],
['default', 'base:ready', 'base:ready'],
['default', 'base:active', 'base:active'],
['reset', '*', 'base:not_ready']]
statemachine = Machine(model=state_machine_model,
states=states,
transitions=transitions,
initial='base',
ignore_invalid_triggers=True)
statemachine.on_enter('base:ready', 'READY')
statemachine.on_enter('base:active', 'ACTIVE')
statemachine.on_enter('base:not_ready', 'NOT_READY')
statemachine.on_enter('base:fail', 'FAILURE')
statemachine.on_exit('base:fail', 'complete_failed')
statemachine.on_enter('base:processing', 'PROCESSING')
return statemachine
def create_statemachine(self, state_machine_model):
NestedState.separator = ':'
states = [{
'name':
'base',
'children': [
'activated', {
'name':
'operational',
'children': [
'loading', 'cycle_start', 'unloading', 'idle',
'in_transition'
]
}, {
'name': 'disabled',
'children': ['fault', 'not_ready']
}
]
}]
transitions = [
['start', 'base', 'base:disabled'],
['cnc_controller_mode_automatic', 'base', 'base:activated'],
['reset_cnc', 'base', 'base:activated'],
['enable', 'base', 'base:activated'],
['disable', 'base', 'base:activated'],
['cnc_controller_mode_manual', 'base', 'base:activated'],
[
'cnc_controller_mode_manual_data_input', 'base',
'base:activated'
],
[
'cnc_controller_mode_automatic', 'base:disabled',
'base:activated'
],
['robot_material_load_ready', 'base:disabled', 'base:activated'],
['robot_material_unload_ready', 'base:disabled', 'base:activated'],
[
'default', 'base:operational:cycle_start',
'base:operational:cycle_start'
], {
'trigger': 'complete',
'source': 'base:operational:loading',
'dest': 'base:operational:cycle_start',
'before': 'LOADED'
},
[
'complete', 'base:operational:in_transition',
'base:operational:loading'
], {
'trigger': 'complete',
'source': 'base:operational:unloading',
'dest': 'base:operational:in_transition',
'before': 'UNLOADED'
}, ['fault', 'base', 'base:disabled:fault'],
['robot_system_fault', 'base', 'base:disabled:fault'],
['default', 'base:disabled:fault', 'base:disabled:fault'],
['faulted', 'base:activated', 'base:disabled:fault'],
[
'cnc_fault', 'base:operational:cycle_start',
'base:disabled:fault'
], ['start', 'base:disabled', 'base:disabled:not_ready'],
['default', 'base:disabled:not_ready', 'base:disabled:not_ready'],
['default', 'base:disabled', 'base:disabled:not_ready'],
['still_not_ready', 'base:activated', 'base:disabled:not_ready'],
['loading', 'base:operational', 'base:operational:loading'],
[
'default', 'base:operational:loading',
'base:operational:loading'
], ['unloading', 'base:operational', 'base:operational:unloading'],
[
'default', 'base:operational:unloading',
'base:operational:unloading'
],
[
'cnc_execution_ready', 'base:operational:cycle_start',
'base:operational:unloading'
], ['failed', 'base:operational:loading', 'base:operational:idle'],
['failed', 'base:operational:unloading', 'base:operational:idle'],
['start', 'base:operational', 'base:operational:idle'], {
'trigger': 'robot_material_unload_ready',
'source': 'base:operational:idle',
'dest': 'base:operational',
'after': 'EXITING_IDLE'
}, {
'trigger': 'robot_material_load_ready',
'source': 'base:operational:idle',
'dest': 'base:operational',
'after': 'EXITING_IDLE'
}, ['default', 'base:operational:idle', 'base:operational:idle'],
['make_operational', 'base:activated', 'base:operational']
]
statemachine = Machine(model=state_machine_model,
states=states,
transitions=transitions,
initial='base',
ignore_invalid_triggers=True)
statemachine.on_enter('base:disabled', 'CNC_NOT_READY')
statemachine.on_enter('base:disabled:not_ready', 'CNC_NOT_READY')
statemachine.on_enter('base:disabled:fault', 'CNC_NOT_READY')
statemachine.on_enter('base:activated', 'ACTIVATE')
statemachine.on_enter('base:operational', 'OPERATIONAL')
statemachine.on_enter('base:operational:idle', 'IDLE')
statemachine.on_enter('base:operational:cycle_start', 'CYCLING')
statemachine.on_enter('base:operational:loading', 'LOADING')
statemachine.on_enter('base:operational:unloading', 'UNLOADING')
statemachine.on_enter('base:operational:in_transition',
'IN_TRANSITION')
statemachine.on_exit('base:operational:in_transition',
'EXIT_TRANSITION')
return statemachine
def create_statemachine(state_machine_model):
"""Create and initialize the robot state machine"""
NestedState.separator = ':'
states = [
{
'name': 'base',
'children': [
'activated',
{
'name': 'operational',
'children': [
'idle',
'loading',
'unloading',
'in_transition'
]
},
{
'name': 'disabled',
'children': [
'not_ready',
{
'name': 'fault',
'children': ['software', 'hardware', 'e_stop']
},
]
},
]
}
]
transitions = [
['start', 'base', 'base:disabled:not_ready'],
['activate', 'base:disabled:not_ready', 'base:activated'],
['make_operational', 'base:activated', 'base:operational'],
['make_idle', 'base:operational', 'base:operational:idle'],
['enable', 'base', 'base:activated'],
['fault', 'base', 'base:disabled:fault'],
['safety_violation', 'base', 'base:disabled:soft'],
['collision', 'base', 'base:disabled:fault:soft'],
['hard_fault', 'base', 'base:disable:fault:hard'],
['e_stop', 'base', 'base:disabled:fault:e_stop'],
['clear_fault', 'base:disabled:fault', 'base:disabled:not_ready'],
{
'trigger': 'material_unload_ready',
'source': 'base:operational:idle',
'dest': 'base:operational:unloading',
},
{
'trigger': 'material_load_ready',
'source': 'base:operational:idle',
'dest': 'base:operational:loading',
},
{
'trigger': 'complete',
'source': 'base:operational:unloading',
'dest': 'base:operational:loading',
'before': 'UNLOADING_COMPLETE'
},
['complete', 'base:operational:in_transition', 'base:operational:idle'],
{
'trigger':'complete',
'source':'base:operational:loading',
'dest':'base:operational:in_transition',
'before':'LOADING_COMPLETE'
},
]
statemachine = Machine(
model = state_machine_model,
states = states,
transitions = transitions,
initial = 'base',
ignore_invalid_triggers=True
)
statemachine.on_enter('base:activated', 'ACTIVATE')
statemachine.on_enter('base:operational', 'OPERATIONAL')
statemachine.on_enter('base:operational:idle','IDLE')
statemachine.on_enter('base:operational:loading', 'LOADING')
statemachine.on_enter('base:operational:unloading', 'UNLOADING')
statemachine.on_enter('base:disabled:fault', 'FAULT')
statemachine.on_enter('base:operational:in_transition', 'IN_TRANSITION')
statemachine.on_exit('base:operational:in_transition', 'EXIT_TRANSITION')
return statemachine