class StateMachineImplementation:
'''
Implementation of the specific StateMachine following the need of our project
'''
memory = []
m = {}
def __init__(self):
self.m = StateMachine()
#Declaration of all the states
self.m.add_state("StateA", self.StateA_transitions)
self.m.add_state("StateB", self.StateB_transitions)
self.m.add_state("StateC", self.StateC_transitions)
self.m.set_start("StateA")
#method for evaluating the OR of a list of variables
@staticmethod
def conditionOr(op, data, names, values):
result = False
for i, key in enumerate(names):
if (op == ">"):
result = result or abs(data[key]) > values[i]
else:
result = result or abs(data[key]) < values[i]
return result
#method for evaluating the AND of a list of variables
@staticmethod
def conditionAnd(op, data, names, values):
result = True
for i, key in enumerate(names):
if (op == ">"):
result = result and abs(data[key]) > values[i]
else:
result = result and abs(data[key]) < values[i]
return result
#Declaration of the transition from the StateA to the other possible states
def StateA_transitions(self, data):
if self.conditionAnd(">", data, ["a", "v", "c", "d"],
[0.9, 5, 0.005, 0.8]):
newState = "StateB"
else:
newState = "StateC"
return newState
#Declaration of the transition from the StateB to the other possible states
def StateB_transitions(self, data):
if (data["a"] * data["b"]) < 40:
newState = "StateA"
elif self.conditionAnd(">", data, ["c", "d"], [15, 70]):
newState = "StateB"
elif self.conditionAnd("<", data, ["a", "b", "c", "d"],
[0.9, 5, 0.005, 0.8]):
newState = "StateC"
else:
newState = "StateA"
return newState
#Declaration of the transition from the StateC to the other possible states
def StateC_transitions(self, data):
newState = "StateA"
return newState
def runOneStep(self, data):
return self.m.runOneStep(data)
class StateMachineSM:
'''
Implementation of the specific StateMachine following the need of our project
'''
memory = []
m = {}
def __init__(self):
self.m = StateMachine()
#Declaration of all the states
self.m.add_state("Still_state", self.still_state_transitions)
self.m.add_state("Moving_state", self.moving_state_transitions)
self.m.add_state("Bumping_state", self.bumping_state_transitions)
self.m.add_state("Holding_state", self.holding_state_transitions)
self.m.add_state("Crash_state", self.crash_state_transitions)
self.m.set_start("Still_state")
#method for evaluating the OR of a list of variables
@staticmethod
def conditionOr(op, data, names, values):
result = False
for i, key in enumerate(names):
if (op == ">"):
result = result or abs(data[key]) > values[i]
else:
result = result or abs(data[key]) < values[i]
return result
#method for evaluating the AND of a list of variables
@staticmethod
def conditionAnd(op, data, names, values):
result = True
for i, key in enumerate(names):
if (op == ">"):
result = result and abs(data[key]) > values[i]
else:
result = result and abs(data[key]) < values[i]
return result
#Declaration of the transition from the Still state to the other possible states
def still_state_transitions(self, data):
if self.conditionAnd(">", data,
["norm", "current", "Std_norm", "Std_current"],
[0.9, 5, 0.005, 0.8]):
newState = "Moving_state"
else:
newState = "Still_state"
return newState
#Declaration of the transition from the Moving state to the other possible states
def moving_state_transitions(self, data):
if (data["normOut"] * data["currentOut"]) < 40:
newState = "Crash_state"
elif self.conditionAnd(">", data, ["Std_current", "Der_current"],
[15, 70]):
newState = "Holding_state"
elif self.conditionAnd("<", data,
["norm", "current", "Std_norm", "Std_current"],
[0.9, 5, 0.005, 0.8]):
newState = "Still_state"
else:
newState = "Moving_state"
return newState
#Possible Implementation of the transition from the Bumping state to the other possible
#states. It was never tested, it could be used in future works
#def bumping_state_transitions(self, data):
# if self.conditionOr("<",data, ["Std_norm","Der_norm","Std_current","Der_current"], [0.1,0.5,4,20]):
# newState = "Moving_state"
# elif self.conditionOr("<",data, ["Std_norm","Der_norm","Std_current","Der_current"], [0.01,0.04,1,10]):
# newState = "Still_state"
# else:
# newState = "Bumping_state"
# return newState
#Declaration of the transition from the Holding state to the other possible states
def holding_state_transitions(self, data):
if self.conditionAnd("<", data, ["Std_current", "Der_current"],
[15, 70]):
newState = "Moving_state"
elif self.conditionAnd("<", data,
["norm", "current", "Std_norm", "Std_current"],
[0.9, 5, 0.005, 0.8]):
newState = "Still_state"
else:
newState = "Holding_state"
return newState
#Declaration of the transition from the Crash state to the other possible states
def crash_state_transitions(self, data):
if self.conditionAnd("<", data,
["norm", "current", "Std_norm", "Std_current"],
[0.9, 5, 0.005, 0.8]):
newState = "Still_state"
else:
newState = "Crash_state"
return newState
def runOneStep(self, data):
return self.m.runOneStep(data)
