class PreemptableState(LoopbackState):
"""
A state that can be preempted.
If preempted, the state will not be executed anymore and return the outcome preempted.
"""
_preempted_name = "preempted"
preempt = False
switching = False
def __init__(self, *args, **kwargs):
# add preempted outcome
if len(args) > 0 and type(args[0]) is list:
# need this ugly check for list type, because first argument in CBState is the callback
args[0].append(self._preempted_name)
else:
outcomes = kwargs.get("outcomes", [])
outcomes.append(self._preempted_name)
kwargs["outcomes"] = outcomes
super(PreemptableState, self).__init__(*args, **kwargs)
self.__execute = self.execute
self.execute = self._preemptable_execute
self._feedback_topic = "/flexbe/command_feedback"
self._preempt_topic = "/flexbe/command/preempt"
self._pub = ProxyPublisher()
self._sub = ProxySubscriberCached()
def _preemptable_execute(self, *args, **kwargs):
preempting = False
if self._is_controlled and self._sub.has_msg(self._preempt_topic):
self._sub.remove_last_msg(self._preempt_topic)
self._pub.publish(self._feedback_topic, CommandFeedback(command="preempt"))
preempting = True
rospy.loginfo("--> Behavior will be preempted")
if PreemptableState.preempt:
PreemptableState.preempt = False
preempting = True
rospy.loginfo("Behavior will be preempted")
if preempting:
self.service_preempt()
self._force_transition = True
return self._preempted_name
return self.__execute(*args, **kwargs)
def _enable_ros_control(self):
super(PreemptableState, self)._enable_ros_control()
self._pub.createPublisher(self._feedback_topic, CommandFeedback)
self._sub.subscribe(self._preempt_topic, Empty)
PreemptableState.preempt = False
def _disable_ros_control(self):
super(PreemptableState, self)._disable_ros_control()
self._sub.unsubscribe_topic(self._preempt_topic)
class WaitForNaoQiSpeechState(EventState):
"""
Implements a state that waits for a NaoQI-Speech-Command.
-- strings_to_rec string[] List of speech commands to listen for
-- outcomes string[] List of outcomes corresponding to the speech commands
<= done Indicates completion.
"""
recognized = None
_outcomes = None
def __init__(self,
strings_to_rec,
outcomes,
topic='/pepper_robot/speechrec/context'):
"""
Constructor
"""
super(WaitForNaoQiSpeechState, self).__init__(outcomes=outcomes)
self._topic = topic
self.outcomes = outcomes
self._target_strings = strings_to_rec
self._sub = ProxySubscriberCached()
self.recognized = None
def _speech_callback(self, msg):
Logger.loginfo('speechrec callback:%s' % msg.data.lower())
for result in self._target_strings:
Logger.loginfo('\tspeechrec check:%s' % result.lower())
if msg.data.lower() == result.lower():
Logger.loginfo('\t\tspeechrec MATCH!')
self.recognized = result
def execute(self, userdata):
"""Execute this state"""
if self.recognized is not None:
try:
index = self._target_strings.index(self.recognized)
return self.outcomes[index]
except Exception as e:
Logger.loginfo(str(e))
def on_enter(self, userdata):
self.recognized = None
self._sub.subscribe(self._topic, String, self._speech_callback)
def on_stop(self):
self._sub.unsubscribe_topic(self._topic)
def on_exit(self, userdata):
self._sub.unsubscribe_topic(self._topic)
class ManuallyTransitionableState(MonitoringState):
"""
A state for that a desired outcome can be declared.
If any outcome is declared, this outcome is forced.
"""
def __init__(self, *args, **kwargs):
super(ManuallyTransitionableState, self).__init__(*args, **kwargs)
self._force_transition = False
self.__execute = self.execute
self.execute = self._manually_transitionable_execute
self._feedback_topic = '/flexbe/command_feedback'
self._transition_topic = '/flexbe/command/transition'
self._pub = ProxyPublisher()
self._sub = ProxySubscriberCached()
def _manually_transitionable_execute(self, *args, **kwargs):
if self._is_controlled and self._sub.has_buffered(
self._transition_topic):
command_msg = self._sub.get_from_buffer(self._transition_topic)
self._pub.publish(
self._feedback_topic,
CommandFeedback(command="transition",
args=[command_msg.target, self.name]))
if command_msg.target != self.name:
rospy.logwarn("--> Requested outcome for state " +
command_msg.target + " but active state is " +
self.name)
else:
self._force_transition = True
outcome = self._outcome_list[command_msg.outcome]
rospy.loginfo("--> Manually triggered outcome " + outcome +
" of state " + self.name)
return outcome
# return the normal outcome
self._force_transition = False
return self.__execute(*args, **kwargs)
def _enable_ros_control(self):
super(ManuallyTransitionableState, self)._enable_ros_control()
self._pub.createPublisher(self._feedback_topic, CommandFeedback)
self._sub.subscribe(self._transition_topic, OutcomeRequest)
self._sub.enable_buffer(self._transition_topic)
def _disable_ros_control(self):
super(ManuallyTransitionableState, self)._disable_ros_control()
self._sub.unsubscribe_topic(self._transition_topic)
class WaitForRosNavgoalState(EventState):
"""
Implements a state that waits for a Navgoal on a RosTopic.
<# topic string The ROS topic to listen on
#> navgoal PoseStamped The navgoal.
<= done Indicates completion.
"""
def __init__(self, topic='/hololens/navgoal'):
"""
Constructor
"""
super(WaitForRosNavgoalState, self).__init__(outcomes=['done'],
output_keys=['navgoal'])
self._sub = ProxySubscriberCached()
self._topic = topic
self._navgoal = None
def execute(self, userdata):
"""Execute this state"""
if self._navgoal is not None:
userdata.navgoal = self._navgoal
return 'done'
def _navgoal_callback(self, msg):
# prevent re-using latched message
# (this is probably only happening when using rostopic pub from the console, but whatever)
try:
if self.last_id == msg.header.stamp:
return
except AttributeError:
pass
self.last_id = msg.header.stamp
Logger.loginfo(
'navgoal callback on topic %s:%s' %
(self._topic, str(msg.pose.position).replace('\n', ' ')))
self._navgoal = msg
def on_enter(self, userdata):
self._navgoal = None
self._sub.subscribe(self._topic, PoseStamped, self._navgoal_callback)
def on_stop(self):
self._sub.unsubscribe_topic(self._topic)
def on_exit(self, userdata):
self._sub.unsubscribe_topic(self._topic)
class ManuallyTransitionableState(MonitoringState):
"""
A state for that a desired outcome can be declared.
If any outcome is declared, this outcome is forced.
"""
def __init__(self, *args, **kwargs):
super(ManuallyTransitionableState, self).__init__(*args, **kwargs)
self._force_transition = False
self.__execute = self.execute
self.execute = self._manually_transitionable_execute
self._feedback_topic = '/flexbe/command_feedback'
self._transition_topic = '/flexbe/command/transition'
self._pub = ProxyPublisher()
self._sub = ProxySubscriberCached()
def _manually_transitionable_execute(self, *args, **kwargs):
if self._is_controlled and self._sub.has_buffered(self._transition_topic):
command_msg = self._sub.get_from_buffer(self._transition_topic)
self._pub.publish(self._feedback_topic, CommandFeedback(command="transition", args=[command_msg.target, self.name]))
if command_msg.target != self.name:
rospy.logwarn("--> Requested outcome for state " + command_msg.target + " but active state is " + self.name)
else:
self._force_transition = True
outcome = self._outcome_list[command_msg.outcome]
rospy.loginfo("--> Manually triggered outcome " + outcome + " of state " + self.name)
return outcome
# return the normal outcome
self._force_transition = False
return self.__execute(*args, **kwargs)
def _enable_ros_control(self):
super(ManuallyTransitionableState, self)._enable_ros_control()
self._pub.createPublisher(self._feedback_topic, CommandFeedback)
self._sub.subscribe(self._transition_topic, OutcomeRequest)
self._sub.enable_buffer(self._transition_topic)
def _disable_ros_control(self):
super(ManuallyTransitionableState, self)._disable_ros_control()
self._sub.unsubscribe_topic(self._transition_topic)
class WaitForOpenDoorState(EventState):
"""
Implements a state that waits for the way to be clear.
<= done Indicates completion.
"""
LASERS_TO_IGNORE = 5
ERR_THRESHOLD = 0.15
old_values = None
def __init__(self):
"""
Constructor
"""
super(WaitForOpenDoorState, self).__init__(outcomes=['done'])
self._topic = '/laser/srd_front/scan'
self._sub = ProxySubscriberCached({self._topic: LaserScan})
def execute(self, userdata):
"""Execute this state"""
while self._sub.has_buffered(self._topic):
msg = self._sub.get_from_buffer(self._topic)
values = msg.ranges
if self.old_values is None:
self.old_values = values
else:
err = 0.0
for i in range(self.LASERS_TO_IGNORE, len(values)-1-self.LASERS_TO_IGNORE):
err += self.old_values[i] - values[i]
err /= len(values)
if err < 0 and abs(err) > self.ERR_THRESHOLD:
Logger.loginfo('THRESHOLD REACHED! (%.3f) - Door should be open!' % err)
return 'done'
self.old_values = values
def on_enter(self, userdata):
self._sub.enable_buffer(self._topic)
Logger.loginfo('Waiting for open door...')
def on_stop(self):
self._sub.unsubscribe_topic(self._topic)
def on_exit(self):
self._sub.unsubscribe_topic(self._topic)
class LockableState(ManuallyTransitionableState):
"""
A state that can be locked.
When locked, no transition can be done regardless of the resulting outcome.
However, if any outcome would be triggered, the outcome will be stored
and the state won't be executed anymore until it is unlocked and the stored outcome is set.
"""
def __init__(self, *args, **kwargs):
super(LockableState, self).__init__(*args, **kwargs)
self._locked = False
self._stored_outcome = None
self.__execute = self.execute
self.execute = self._lockable_execute
self._feedback_topic = 'flexbe/command_feedback'
self._lock_topic = 'flexbe/command/lock'
self._unlock_topic = 'flexbe/command/unlock'
self._pub = ProxyPublisher()
self._sub = ProxySubscriberCached()
def _lockable_execute(self, *args, **kwargs):
if self._is_controlled and self._sub.has_msg(self._lock_topic):
msg = self._sub.get_last_msg(self._lock_topic)
self._sub.remove_last_msg(self._lock_topic)
self._execute_lock(msg.data)
if self._is_controlled and self._sub.has_msg(self._unlock_topic):
msg = self._sub.get_last_msg(self._unlock_topic)
self._sub.remove_last_msg(self._unlock_topic)
self._execute_unlock(msg.data)
if self._locked:
if self._stored_outcome is None or self._stored_outcome == 'None':
self._stored_outcome = self.__execute(*args, **kwargs)
return None
if not self._locked and not self._stored_outcome is None and not self._stored_outcome == 'None':
if self._parent.transition_allowed(self.name, self._stored_outcome):
outcome = self._stored_outcome
self._stored_outcome = None
return outcome
else:
return None
outcome = self.__execute(*args, **kwargs)
if outcome is None or outcome == 'None':
return None
if not self._parent is None and not self._parent.transition_allowed(self.name, outcome):
self._stored_outcome = outcome
return None
return outcome
def _execute_lock(self, target):
found_target = False
if target == self._get_path():
found_target = True
self._locked = True
else:
found_target = self._parent.lock(target)
self._pub.publish(self._feedback_topic, CommandFeedback(command="lock", args=[target, target if found_target else ""]))
if not found_target:
rospy.logwarn("--> Wanted to lock %s, but could not find it in current path %s.", target, self._get_path())
else:
rospy.loginfo("--> Locking in state %s", target)
def _execute_unlock(self, target):
found_target = False
if target == self._get_path():
found_target = True
self._locked = False
else:
found_target = self._parent.unlock(target)
self._pub.publish(self._feedback_topic, CommandFeedback(command="unlock", args=[target, target if found_target else ""]))
if not found_target:
rospy.logwarn("--> Wanted to unlock %s, but could not find it in current path %s.", target, self._get_path())
else:
rospy.loginfo("--> Unlocking in state %s", target)
def _enable_ros_control(self):
super(LockableState, self)._enable_ros_control()
self._pub.createPublisher(self._feedback_topic, CommandFeedback)
self._sub.subscribe(self._lock_topic, String)
self._sub.subscribe(self._unlock_topic, String)
def _disable_ros_control(self):
super(LockableState, self)._disable_ros_control()
self._sub.unsubscribe_topic(self._lock_topic)
self._sub.unsubscribe_topic(self._unlock_topic)
def is_locked(self):
return self._locked
class MonitoringState(smach.State):
"""
A state to monitor a custom set of conditions.
For each conditions, an outcome is added or mapped which will be returned if the condition is not met.
"""
def __init__(self, *args, **kwargs):
super(MonitoringState, self).__init__(*args, **kwargs)
outcomes = kwargs.get('outcomes', [])
self._outcome_list = list(outcomes)
self._outcome_list.remove('loopback')
self.name = None
self._parent = None
self._is_controlled = False
self._force_monitoring = False
self._monitored_keys = dict()
self._sent_keys = list()
self._current_status = None
self.__execute = self.execute
self.execute = self._monitoring_execute
self._diagnostics_topic = 'diagnostics_agg'
self._sub = ProxySubscriberCached()
def _monitoring_execute(self, *args, **kwargs):
new_status = None
had_warning = False
if (self._force_monitoring
or self._is_controlled) and self._sub.has_buffered(
self._diagnostics_topic):
new_status = ""
diag_msg = self._sub.get_from_buffer(self._diagnostics_topic)
for status in diag_msg.status:
if not status.name in self._monitored_keys.keys(): continue
if status.level == DiagnosticStatus.WARN:
had_warning = True
if not status.name + "_warn" in self._sent_keys:
self._sent_keys.append(status.name + "_warn")
Logger.logwarn("%s: %s" %
(status.name, status.message))
if status.level == DiagnosticStatus.ERROR:
if not status.name + "_err" in self._sent_keys:
self._sent_keys.append(status.name + "_err")
Logger.logerr("%s: %s" % (status.name, status.message))
new_status = status.name
if new_status == "":
self._current_status = None
new_status = None
if not had_warning:
self._sent_keys = list()
if new_status is None or self._current_status == new_status:
return self.__execute(*args, **kwargs)
self._current_status = new_status
return self._monitored_keys[self._current_status]
def monitor(self, key, outcome=None):
oc = outcome if not outcome is None else key
self._monitored_keys[key] = oc
if not oc in self._outcomes:
self.register_outcomes([oc])
self._outcome_list.append(oc)
def force_monitoring(self):
self._force_monitoring = True
if not self._is_controlled:
self._sub.subscribe(self._diagnostics_topic, DiagnosticArray)
self._sub.enable_buffer(self._diagnostics_topic)
def _enable_ros_control(self):
self._is_controlled = True
self._sub.subscribe(self._diagnostics_topic, DiagnosticArray)
self._sub.enable_buffer(self._diagnostics_topic)
def _disable_ros_control(self):
self._is_controlled = False
self._sub.unsubscribe_topic(self._diagnostics_topic)
def _get_path(self):
return self._parent._get_path() + "/" + self.name
class OperatableStateMachine(PreemptableStateMachine):
"""
A state machine that can be operated.
It synchronizes its current state with the mirror and supports some control mechanisms.
"""
autonomy_level = 3
silent_mode = False
def __init__(self, *args, **kwargs):
super(OperatableStateMachine, self).__init__(*args, **kwargs)
self._message = None
self._rate = rospy.Rate(10)
self.id = None
self.autonomy = None
self._autonomy = {}
self._ordered_states = []
self._inner_sync_request = False
self._pub = ProxyPublisher()
self._sub = ProxySubscriberCached()
def execute(self, parent_ud=smach.UserData()):
# First time in this state machine
if self._current_state is None:
# Spew some info
smach.loginfo(
"State machine starting in initial state '%s' with userdata: \n\t%s"
% (self._current_label, list(self.userdata.keys())))
# Set initial state
self._set_current_state(self._initial_state_label)
# Initialize preempt state
self._preempted_label = None
self._preempted_state = None
# Call start callbacks
self.call_start_cbs()
# Copy input keys
self._copy_input_keys(parent_ud, self.userdata)
container_outcome = self._loopback_name
if self.id is not None:
# only top-level statemachine should loop for outcome
while container_outcome == self._loopback_name and not smach.is_shutdown(
):
# Update the state machine
container_outcome = self._async_execute(parent_ud)
else:
container_outcome = self._async_execute(parent_ud)
if smach.is_shutdown():
container_outcome = 'preempted'
return container_outcome
def _async_execute(self, parent_ud=smach.UserData()):
"""Run the state machine on entry to this state.
This will set the "closed" flag and spin up the execute thread. Once
this flag has been set, it will prevent more states from being added to
the state machine.
"""
# This will prevent preempts from getting propagated to non-existent children
with self._state_transitioning_lock:
# Check state consistency
try:
self.check_consistency()
except (smach.InvalidStateError, smach.InvalidTransitionError):
smach.logerr("Container consistency check failed.")
return None
# Set running flag
self._is_running = True
# Initialize container outcome
container_outcome = None
# Step through state machine
if self._is_running and not smach.is_shutdown():
# Update the state machine
container_outcome = self._update_once()
if self._current_state is not None:
try:
self._current_state._rate.sleep()
except ROSInterruptException:
rospy.logwarn('Interrupted rate sleep.')
if container_outcome is not None and container_outcome != self._loopback_name:
# Copy output keys
self._copy_output_keys(self.userdata, parent_ud)
else:
container_outcome = self._loopback_name
# provide explicit sync as back-up functionality
# should be used only if there is no other choice
# since it requires additional 8 byte + header update bandwith and time to restart mirror
if self._inner_sync_request and self._get_deep_state() is not None:
self._inner_sync_request = False
if self.id is None:
self._parent._inner_sync_request = True
else:
msg = BehaviorSync()
msg.behavior_id = self.id
msg.current_state_checksum = zlib.adler32(
self._get_deep_state()._get_path())
self._pub.publish('flexbe/mirror/sync', msg)
# We're no longer running
self._is_running = False
return container_outcome
@staticmethod
def add(label, state, transitions=None, autonomy=None, remapping=None):
"""
Add a state to the opened state machine.
@type label: string
@param label: The label of the state being added.
@param state: An instance of a class implementing the L{State} interface.
@param transitions: A dictionary mapping state outcomes to other state
labels or container outcomes.
@param autonomy: A dictionary mapping state outcomes to their required
autonomy level
@param remapping: A dictionary mapping local userdata keys to userdata
keys in the container.
"""
self = StateMachine._currently_opened_container()
# add loopback transition to loopback states
if isinstance(state, LoopbackState):
transitions[LoopbackState._loopback_name] = label
autonomy[LoopbackState._loopback_name] = -1
if isinstance(state, OperatableStateMachine):
transitions[OperatableStateMachine._loopback_name] = label
autonomy[OperatableStateMachine._loopback_name] = -1
self._ordered_states.append(state)
state.name = label
state.transitions = transitions
state.autonomy = autonomy
state._parent = self
StateMachine.add(label, state, transitions, remapping)
self._autonomy[label] = autonomy
def replace(self, new_state):
old_state = self._states[new_state.name]
new_state.transitions = old_state.transitions
new_state.autonomy = old_state.autonomy
new_state._parent = old_state._parent
self._ordered_states[self._ordered_states.index(old_state)] = new_state
self._states[new_state.name] = new_state
def destroy(self):
self._notify_stop()
self._disable_ros_control()
self._sub.unsubscribe_topic('flexbe/command/autonomy')
self._sub.unsubscribe_topic('flexbe/command/sync')
self._sub.unsubscribe_topic('flexbe/request_mirror_structure')
StateLogger.shutdown()
def confirm(self, name, id):
"""
Confirms the state machine and triggers the creation of the structural message.
It is mandatory to call this function at the top-level state machine
between building it and starting its execution.
@type name: string
@param name: The name of this state machine to identify it.
"""
self.name = name
self.id = id
self._pub.createPublisher(
'flexbe/mirror/sync', BehaviorSync, _latch=True
) # Update mirror with currently active state (high bandwidth mode)
self._pub.createPublisher('flexbe/mirror/preempt', Empty,
_latch=True) # Preempts the mirror
self._pub.createPublisher(
'flexbe/mirror/structure',
ContainerStructure) # Sends the current structure to the mirror
self._pub.createPublisher('flexbe/log',
BehaviorLog) # Topic for logs to the GUI
self._pub.createPublisher(
'flexbe/command_feedback', CommandFeedback
) # Gives feedback about executed commands to the GUI
self._sub.subscribe('flexbe/command/autonomy', UInt8,
self._set_autonomy_level)
self._sub.subscribe('flexbe/command/sync', Empty, self._sync_callback)
self._sub.subscribe('flexbe/command/attach', UInt8,
self._attach_callback)
self._sub.subscribe('flexbe/request_mirror_structure', Int32,
self._mirror_structure_callback)
StateLogger.initialize(name)
if OperatableStateMachine.autonomy_level != 255:
self._enable_ros_control()
rospy.sleep(0.5) # no clean way to wait for publisher to be ready...
self._notify_start()
def _set_autonomy_level(self, msg):
""" Sets the current autonomy level. """
if OperatableStateMachine.autonomy_level != msg.data:
rospy.loginfo('--> Autonomy changed to %d', msg.data)
if msg.data < 0:
self.preempt()
else:
OperatableStateMachine.autonomy_level = msg.data
self._pub.publish('flexbe/command_feedback',
CommandFeedback(command="autonomy", args=[]))
def _sync_callback(self, msg):
rospy.loginfo("--> Synchronization requested...")
msg = BehaviorSync()
msg.behavior_id = self.id
while self._get_deep_state() is None:
rospy.sleep(0.1)
msg.current_state_checksum = zlib.adler32(
self._get_deep_state()._get_path())
self._pub.publish('flexbe/mirror/sync', msg)
self._pub.publish('flexbe/command_feedback',
CommandFeedback(command="sync", args=[]))
rospy.loginfo("<-- Sent synchronization message for mirror.")
def _attach_callback(self, msg):
rospy.loginfo("--> Enabling control...")
# set autonomy level
OperatableStateMachine.autonomy_level = msg.data
# enable control of states
self._enable_ros_control()
self._inner_sync_request = True
# send command feedback
cfb = CommandFeedback(command="attach")
cfb.args.append(self.name)
self._pub.publish('flexbe/command_feedback', cfb)
rospy.loginfo("<-- Sent attach confirm.")
def _mirror_structure_callback(self, msg):
rospy.loginfo("--> Creating behavior structure for mirror...")
msg = self._build_msg('')
msg.behavior_id = self.id
self._pub.publish('flexbe/mirror/structure', msg)
rospy.loginfo("<-- Sent behavior structure for mirror.")
def _transition_allowed(self, label, outcome):
return self._autonomy[label][
outcome] < OperatableStateMachine.autonomy_level
def _build_msg(self, prefix, msg=None):
"""
Adds this state machine to the initial structure message.
@type prefix: string
@param prefix: A path consisting of the container hierarchy containing this state.
@type msg: ContainerStructure
@param msg: The message that will finally contain the structure message.
"""
# set children
children = []
for state in self._ordered_states:
children.append(str(state.name))
# set name
name = prefix + (self.name if self.id is None else '')
if msg is None:
# top-level state machine (has no transitions)
self._message = ContainerStructure()
outcomes = list(self._outcomes)
transitions = None
autonomy = None
else:
# lower-level state machine
self._message = msg
outcomes = list(self.transitions)
# set transitions and autonomy
transitions = []
autonomy = []
for i in range(len(self.transitions)):
outcome = outcomes[i]
if outcome == 'preempted': # set preempt transition
transitions.append('preempted')
autonomy.append(-1)
else:
transitions.append(str(self.transitions[outcome]))
autonomy.append(self.autonomy[outcome])
# add to message
self._message.containers.append(
Container(name, children, outcomes, transitions, autonomy))
# build message for children
for state in self._ordered_states:
state._build_msg(name + '/', self._message)
# top-level state machine returns the message
if msg is None:
return self._message
def _notify_start(self):
for state in self._ordered_states:
if isinstance(state, LoopbackState):
state.on_start()
if isinstance(state, OperatableStateMachine):
state._notify_start()
def _enable_ros_control(self):
self._is_controlled = True
for state in self._ordered_states:
if isinstance(state, LoopbackState):
state._enable_ros_control()
if isinstance(state, OperatableStateMachine):
state._enable_ros_control()
def _notify_stop(self):
for state in self._ordered_states:
if isinstance(state, LoopbackState):
state.on_stop()
state._disable_ros_control()
if isinstance(state, OperatableStateMachine):
state._notify_stop()
def _disable_ros_control(self):
self._is_controlled = False
for state in self._ordered_states:
if isinstance(state, LoopbackState):
state._disable_ros_control()
if isinstance(state, OperatableStateMachine):
state._disable_ros_control()
def on_exit(self, userdata):
if self._current_state is not None:
self._current_state.on_exit(userdata)
self._current_state = None
class MonitoringState(smach.State):
"""
A state to monitor a custom set of conditions.
For each conditions, an outcome is added or mapped which will be returned if the condition is not met.
"""
def __init__(self, *args, **kwargs):
super(MonitoringState, self).__init__(*args, **kwargs)
outcomes = kwargs.get('outcomes', [])
self._outcome_list = list(outcomes)
self._outcome_list.remove('loopback')
self.name = None
self._parent = None
self._is_controlled = False
self._force_monitoring = False
self._monitored_keys = dict()
self._sent_keys = list()
self._current_status = None
self.__execute = self.execute
self.execute = self._monitoring_execute
self._diagnostics_topic = 'diagnostics_agg'
self._sub = ProxySubscriberCached()
def _monitoring_execute(self, *args, **kwargs):
new_status = None
had_warning = False
if (self._force_monitoring or self._is_controlled) and self._sub.has_buffered(self._diagnostics_topic):
new_status = ""
diag_msg = self._sub.get_from_buffer(self._diagnostics_topic)
for status in diag_msg.status:
if not status.name in self._monitored_keys.keys(): continue
if status.level == DiagnosticStatus.WARN:
had_warning = True
if not status.name + "_warn" in self._sent_keys:
self._sent_keys.append(status.name + "_warn")
Logger.logwarn("%s: %s" % (status.name, status.message))
if status.level == DiagnosticStatus.ERROR:
if not status.name + "_err" in self._sent_keys:
self._sent_keys.append(status.name + "_err")
Logger.logerr("%s: %s" % (status.name, status.message))
new_status = status.name
if new_status == "":
self._current_status = None
new_status = None
if not had_warning:
self._sent_keys = list()
if new_status is None or self._current_status == new_status:
return self.__execute(*args, **kwargs)
self._current_status = new_status
return self._monitored_keys[self._current_status]
def monitor(self, key, outcome = None):
oc = outcome if not outcome is None else key
self._monitored_keys[key] = oc
if not oc in self._outcomes:
self.register_outcomes([oc])
self._outcome_list.append(oc)
def force_monitoring(self):
self._force_monitoring = True
if not self._is_controlled:
self._sub.subscribe(self._diagnostics_topic, DiagnosticArray)
self._sub.enable_buffer(self._diagnostics_topic)
def _enable_ros_control(self):
self._is_controlled = True
self._sub.subscribe(self._diagnostics_topic, DiagnosticArray)
self._sub.enable_buffer(self._diagnostics_topic)
def _disable_ros_control(self):
self._is_controlled = False
self._sub.unsubscribe_topic(self._diagnostics_topic)
def _get_path(self):
return self._parent._get_path() + "/" + self.name
class EventState(OperatableState):
"""
A state that allows implementing certain events.
"""
def __init__(self, *args, **kwargs):
super(EventState, self).__init__(*args, **kwargs)
self._entering = True
self._skipped = False
self.__execute = self.execute
self.execute = self._event_execute
self._paused = False
self._last_active_container = None
self._feedback_topic = 'flexbe/command_feedback'
self._repeat_topic = 'flexbe/command/repeat'
self._pause_topic = 'flexbe/command/pause'
self._pub = ProxyPublisher()
self._sub = ProxySubscriberCached()
def _event_execute(self, *args, **kwargs):
if self._is_controlled and self._sub.has_msg(self._pause_topic):
msg = self._sub.get_last_msg(self._pause_topic)
if msg.data:
self._sub.remove_last_msg(self._pause_topic)
rospy.loginfo("--> Pausing in state %s", self.name)
self._pub.publish(self._feedback_topic,
CommandFeedback(command="pause"))
self._last_active_container = PriorityContainer.active_container
# claim priority to propagate pause event
PriorityContainer.active_container = self._get_path()
self._paused = True
if self._paused and not PreemptableState.preempt:
self._notify_skipped()
return self._loopback_name
if self._entering:
self._entering = False
self.on_enter(*args, **kwargs)
if self._skipped and not PreemptableState.preempt:
self._skipped = False
self.on_resume(*args, **kwargs)
execute_outcome = self.__execute(*args, **kwargs)
repeat = False
if self._is_controlled and self._sub.has_msg(self._repeat_topic):
rospy.loginfo("--> Repeating state %s", self.name)
self._sub.remove_last_msg(self._repeat_topic)
self._pub.publish(self._feedback_topic,
CommandFeedback(command="repeat"))
repeat = True
if execute_outcome != self._loopback_name and not PreemptableState.switching and not PreemptableState.preempt \
or repeat:
self._entering = True
self.on_exit(*args, **kwargs)
return execute_outcome
def _notify_skipped(self):
if not self._skipped:
self.on_pause()
self._skipped = True
if self._is_controlled and self._sub.has_msg(self._pause_topic):
msg = self._sub.get_last_msg(self._pause_topic)
if not msg.data:
self._sub.remove_last_msg(self._pause_topic)
rospy.loginfo("--> Resuming in state %s", self.name)
self._pub.publish(self._feedback_topic,
CommandFeedback(command="resume"))
PriorityContainer.active_container = self._last_active_container
self._last_active_container = None
self._paused = False
super(EventState, self)._notify_skipped()
def _enable_ros_control(self):
super(EventState, self)._enable_ros_control()
self._pub.createPublisher(self._feedback_topic, CommandFeedback)
self._sub.subscribe(self._repeat_topic, Empty)
self._sub.subscribe(self._pause_topic, Bool)
def _disable_ros_control(self):
super(EventState, self)._disable_ros_control()
self._sub.unsubscribe_topic(self._repeat_topic)
self._sub.unsubscribe_topic(self._pause_topic)
self._last_active_container = None
if self._paused:
PriorityContainer.active_container = None
# Events
# (just implement the ones you need)
def on_start(self):
"""
Will be executed once when the behavior starts.
"""
pass
def on_stop(self):
"""
Will be executed once when the behavior stops or is preempted.
"""
pass
def on_pause(self):
"""
Will be executed each time this state is paused.
"""
pass
def on_resume(self, userdata):
"""
Will be executed each time this state is resumed.
"""
pass
def on_enter(self, userdata):
"""
Will be executed each time the state is entered from any other state (but not from itself).
"""
pass
def on_exit(self, userdata):
"""
Will be executed each time the state will be left to any other state (but not to itself).
"""
pass
class EventState(OperatableState):
"""
A state that allows implementing certain events.
"""
def __init__(self, *args, **kwargs):
super(EventState, self).__init__(*args, **kwargs)
self._entering = True
self._skipped = False
self.__execute = self.execute
self.execute = self._event_execute
self._paused = False
self._last_active_container = None
self._feedback_topic = "flexbe/command_feedback"
self._repeat_topic = "flexbe/command/repeat"
self._pause_topic = "flexbe/command/pause"
self._pub = ProxyPublisher()
self._sub = ProxySubscriberCached()
def _event_execute(self, *args, **kwargs):
if self._is_controlled and self._sub.has_msg(self._pause_topic):
msg = self._sub.get_last_msg(self._pause_topic)
if msg.data:
self._sub.remove_last_msg(self._pause_topic)
rospy.loginfo("--> Pausing in state %s", self.name)
self._pub.publish(self._feedback_topic, CommandFeedback(command="pause"))
self._last_active_container = PriorityContainer.active_container
PriorityContainer.active_container = ""
self._paused = True
if self._paused and not PreemptableState.preempt:
self._notify_skipped()
return self._loopback_name
if self._entering:
self._entering = False
self.on_enter(*args, **kwargs)
if self._skipped:
self._skipped = False
self.on_resume(*args, **kwargs)
execute_outcome = self.__execute(*args, **kwargs)
repeat = False
if self._is_controlled and self._sub.has_msg(self._repeat_topic):
rospy.loginfo("--> Repeating state %s", self.name)
self._sub.remove_last_msg(self._repeat_topic)
self._pub.publish(self._feedback_topic, CommandFeedback(command="repeat"))
repeat = True
if execute_outcome != self._loopback_name and not PreemptableState.switching or repeat:
self._entering = True
self.on_exit(*args, **kwargs)
return execute_outcome
def _notify_skipped(self):
if not self._skipped:
self.on_pause()
self._skipped = True
if self._is_controlled and self._sub.has_msg(self._pause_topic):
msg = self._sub.get_last_msg(self._pause_topic)
if not msg.data:
self._sub.remove_last_msg(self._pause_topic)
rospy.loginfo("--> Resuming in state %s", self.name)
self._pub.publish(self._feedback_topic, CommandFeedback(command="resume"))
PriorityContainer.active_container = self._last_active_container
self._last_active_container = None
self._paused = False
super(EventState, self)._notify_skipped()
def _enable_ros_control(self):
super(EventState, self)._enable_ros_control()
self._pub.createPublisher(self._feedback_topic, CommandFeedback)
self._sub.subscribe(self._repeat_topic, Empty)
self._sub.subscribe(self._pause_topic, Bool)
def _disable_ros_control(self):
super(EventState, self)._disable_ros_control()
self._sub.unsubscribe_topic(self._repeat_topic)
self._sub.unsubscribe_topic(self._pause_topic)
self._last_active_container = None
if self._paused:
PriorityContainer.active_container = None
# Events
# (just implement the ones you need)
def on_start(self):
"""
Will be executed once when the behavior starts.
"""
pass
def on_stop(self):
"""
Will be executed once when the behavior stops or is preempted.
"""
pass
def on_pause(self):
"""
Will be executed each time this state is paused.
"""
pass
def on_resume(self, userdata):
"""
Will be executed each time this state is resumed.
"""
pass
def on_enter(self, userdata):
"""
Will be executed each time the state is entered from any other state (but not from itself).
"""
pass
def on_exit(self, userdata):
"""
Will be executed each time the state will be left to any other state (but not to itself).
"""
pass
class PreemptableState(LoopbackState):
"""
A state that can be preempted.
If preempted, the state will not be executed anymore and return the outcome preempted.
"""
_preempted_name = 'preempted'
preempt = False
switching = False
def __init__(self, *args, **kwargs):
# add preempted outcome
if len(args) > 0 and type(args[0]) is list:
# need this ugly check for list type, because first argument in CBState is the callback
args[0].append(self._preempted_name)
else:
outcomes = kwargs.get('outcomes', [])
outcomes.append(self._preempted_name)
kwargs['outcomes'] = outcomes
super(PreemptableState, self).__init__(*args, **kwargs)
self.__execute = self.execute
self.execute = self._preemptable_execute
self._feedback_topic = 'flexbe/command_feedback'
self._preempt_topic = 'flexbe/command/preempt'
self._pub = ProxyPublisher()
self._sub = ProxySubscriberCached()
PreemptableState.preempt = False
def _preemptable_execute(self, *args, **kwargs):
preempting = False
if self._is_controlled and self._sub.has_msg(self._preempt_topic):
self._sub.remove_last_msg(self._preempt_topic)
self._pub.publish(self._feedback_topic, CommandFeedback(command="preempt"))
preempting = True
PreemptableState.preempt = True
rospy.loginfo("--> Behavior will be preempted")
if PreemptableState.preempt:
preempting = True
rospy.loginfo("Behavior will be preempted")
if preempting:
self.service_preempt()
self._force_transition = True
return self._preempted_name
return self.__execute(*args, **kwargs)
def _notify_skipped(self):
# make sure we dont miss a preempt even if not being executed
if self._is_controlled and self._sub.has_msg(self._preempt_topic):
self._sub.remove_last_msg(self._preempt_topic)
self._pub.publish(self._feedback_topic, CommandFeedback(command="preempt"))
PreemptableState.preempt = True
def _enable_ros_control(self):
super(PreemptableState, self)._enable_ros_control()
self._pub.createPublisher(self._feedback_topic, CommandFeedback)
self._sub.subscribe(self._preempt_topic, Empty)
PreemptableState.preempt = False
def _disable_ros_control(self):
super(PreemptableState, self)._disable_ros_control()
self._sub.unsubscribe_topic(self._preempt_topic)
class OperatableStateMachine(PreemptableStateMachine):
"""
A state machine that can be operated.
It synchronizes its current state with the mirror and supports some control mechanisms.
"""
autonomy_level = 3
silent_mode = False
def __init__(self, *args, **kwargs):
super(OperatableStateMachine, self).__init__(*args, **kwargs)
self._message = None
self.id = None
self.autonomy = None
self._autonomy = {}
self._ordered_states = []
self._pub = ProxyPublisher()
self._sub = ProxySubscriberCached()
@staticmethod
def add(label, state, transitions = None, autonomy = None, remapping = None):
"""
Add a state to the opened state machine.
@type label: string
@param label: The label of the state being added.
@param state: An instance of a class implementing the L{State} interface.
@param transitions: A dictionary mapping state outcomes to other state
labels or container outcomes.
@param autonomy: A dictionary mapping state outcomes to their required
autonomy level
@param remapping: A dictionary mapping local userdata keys to userdata
keys in the container.
"""
self = StateMachine._currently_opened_container()
# add loopback transition to loopback states
if isinstance(state, LoopbackState):
transitions[LoopbackState._loopback_name] = label
autonomy[LoopbackState._loopback_name] = -1
self._ordered_states.append(state)
state.name = label
state.transitions = transitions
state.autonomy = autonomy
state._parent = self
StateMachine.add(label, state, transitions, remapping)
self._autonomy[label] = autonomy
def replace(self, new_state):
old_state = self._states[new_state.name]
new_state.transitions = old_state.transitions
new_state.autonomy = old_state.autonomy
new_state._parent = old_state._parent
self._ordered_states[self._ordered_states.index(old_state)] = new_state
self._states[new_state.name] = new_state
def destroy(self):
self._notify_stop()
self._disable_ros_control()
self._sub.unsubscribe_topic('/flexbe/command/autonomy')
self._sub.unsubscribe_topic('/flexbe/command/sync')
self._sub.unsubscribe_topic('/flexbe/request_mirror_structure')
StateLogger.shutdown()
def confirm(self, name, id):
"""
Confirms the state machine and triggers the creation of the structural message.
It is mandatory to call this function at the top-level state machine
between building it and starting its execution.
@type name: string
@param name: The name of this state machine to identify it.
"""
self.name = name
self.id = id
self._pub.createPublisher('/flexbe/mirror/sync', BehaviorSync, _latch = True) # Update mirror with currently active state (high bandwidth mode)
self._pub.createPublisher('/flexbe/mirror/preempt', Empty, _latch = True) # Preempts the mirror
self._pub.createPublisher('/flexbe/mirror/structure', ContainerStructure) # Sends the current structure to the mirror
self._pub.createPublisher('/flexbe/log', BehaviorLog) # Topic for logs to the GUI
self._pub.createPublisher('/flexbe/command_feedback', CommandFeedback) # Gives feedback about executed commands to the GUI
self._sub.subscribe('/flexbe/command/autonomy', UInt8, self._set_autonomy_level)
self._sub.subscribe('/flexbe/command/sync', Empty, self._sync_callback)
self._sub.subscribe('/flexbe/request_mirror_structure', Int32, self._mirror_structure_callback)
StateLogger.initialize(name)
if OperatableStateMachine.autonomy_level != 255:
self._enable_ros_control()
rospy.sleep(0.5) # no clean way to wait for publisher to be ready...
self._notify_start()
def _set_autonomy_level(self, msg):
""" Sets the current autonomy level. """
if OperatableStateMachine.autonomy_level != msg.data:
rospy.loginfo('--> Autonomy changed to %d', msg.data)
if msg.data < 0:
self.preempt()
else:
OperatableStateMachine.autonomy_level = msg.data
self._pub.publish('/flexbe/command_feedback', CommandFeedback(command="autonomy", args=[]))
def _sync_callback(self, msg):
rospy.loginfo("--> Synchronization requested...")
msg = BehaviorSync()
msg.behavior_id = self.id
msg.current_state_checksum = zlib.adler32(self._get_deep_state()._get_path())
self._pub.publish('/flexbe/mirror/sync', msg)
self._pub.publish('/flexbe/command_feedback', CommandFeedback(command="sync", args=[]))
rospy.loginfo("<-- Sent synchronization message for mirror.")
def _mirror_structure_callback(self, msg):
rospy.loginfo("--> Creating behavior structure for mirror...")
msg = self._build_msg('')
msg.behavior_id = self.id
self._pub.publish('/flexbe/mirror/structure', msg)
rospy.loginfo("<-- Sent behavior structure for mirror.")
def _transition_allowed(self, label, outcome):
return self._autonomy[label][outcome] < OperatableStateMachine.autonomy_level
def _build_msg(self, prefix, msg = None):
"""
Adds this state machine to the initial structure message.
@type prefix: string
@param prefix: A path consisting of the container hierarchy containing this state.
@type msg: ContainerStructure
@param msg: The message that will finally contain the structure message.
"""
# set children
children = []
for state in self._ordered_states:
children.append(str(state.name))
# set name
name = prefix + self.name
if msg is None:
# top-level state machine (has no transitions)
self._message = ContainerStructure()
outcomes = list(self._outcomes)
transitions = None
autonomy = None
else:
# lower-level state machine
self._message = msg
outcomes = list(self.transitions)
# set transitions and autonomy
transitions = []
autonomy = []
for i in range(len(self.transitions)):
outcome = outcomes[i]
if outcome == 'preempted': # set preempt transition
transitions.append('preempted')
autonomy.append(-1)
else:
transitions.append(str(self.transitions[outcome]))
autonomy.append(self.autonomy[outcome])
# add to message
self._message.containers.append(Container(name, children, outcomes, transitions, autonomy))
# build message for children
for state in self._ordered_states:
state._build_msg(name+'/', self._message)
# top-level state machine returns the message
if msg is None:
return self._message
def _notify_start(self):
for state in self._ordered_states:
if isinstance(state, LoopbackState):
state.on_start()
if isinstance(state, OperatableStateMachine):
state._notify_start()
def _enable_ros_control(self):
for state in self._ordered_states:
if isinstance(state, LoopbackState):
state._enable_ros_control()
if isinstance(state, OperatableStateMachine):
state._enable_ros_control()
def _notify_stop(self):
for state in self._ordered_states:
if isinstance(state, LoopbackState):
state.on_stop()
state._disable_ros_control()
if isinstance(state, OperatableStateMachine):
state._notify_stop()
def _disable_ros_control(self):
for state in self._ordered_states:
if isinstance(state, LoopbackState):
state._disable_ros_control()
if isinstance(state, OperatableStateMachine):
state._disable_ros_control()
class CheckForPersonState(EventState):
"""
Checks whether or not the robot sees a Person
-- name String Name of the Person to search for
-- timeout float Timeout in seconds
<= found The Person was found
<= not_found The Person was not found
<= failed Execution failed
"""
def __init__(self, name, timeout=2.0):
"""Constructor"""
super(CheckForPersonState,
self).__init__(outcomes=['found', 'not_found', 'failed'])
self._name = name
self._mutex = Lock()
self._people = []
self._timeout = timeout
self._start_time = None
self._callback_received = False
self._transform_topic = '/clf_perception_vision/people/raw/transform'
self._service_name = 'pepper_face_identification'
self._service_proxy = ProxyServiceCaller(
{self._service_name: DoIKnowThatPerson})
self._transform_listener = ProxySubscriberCached(
{self._transform_topic: ExtendedPeople})
def people_callback(self, data):
self._mutex.acquire()
self._callback_received = True
self._people = []
for p in data.persons:
self._people.append(p)
self._transform_listener.unsubscribe_topic(self._transform_topic)
self._mutex.release()
def execute(self, userdata):
"""wait for transform callback, check all transforms for requested person"""
elapsed = rospy.get_rostime() - self._start_time
if elapsed.to_sec() > self._timeout:
return 'not_found'
self._mutex.acquire()
if self._callback_received:
known = False
for p in self._people:
request = DoIKnowThatPersonRequest()
request.transform_id = p.transformid
response = self._service_proxy.call(self._service_name,
request)
if response.name == self.name:
known = True
self._mutex.release()
if known:
return 'found'
else:
return 'not_found'
self._mutex.release()
def on_enter(self, userdata):
"""Subscribe to transforms, start timeout-timer"""
self._start_time = rospy.get_rostime()
self._transform_listener.subscribe(self._transform_topic,
ExtendedPeople,
self.people_callback)
def on_exit(self, userdata):
self._transform_listener.unsubscribe_topic(self._transform_topic)
def on_stop(self):
self._transform_listener.unsubscribe_topic(self._transform_topic)