class TestStringPattern(unittest.TestCase):
def __init__(self, *args, **kwargs):
super(TestStringPattern, self).__init__(*args, **kwargs)
self.m = StateMachine()
self.m.add_state("start_state", state_zero)
self.m.add_state("first_state", state_one)
self.m.add_state("second_state", state_two)
self.m.add_state("third_state", state_three)
self.m.add_state("last_state", None, end_state=1)
self.m.add_state("error_state", None, end_state=1)
self.m.set_start("start_state")
def test_right_pattern(self):
self.assertEqual(self.m.run("12@123#"),
"reached last_state which is an end state")
self.assertEqual(self.m.run("@3445#"),
"reached last_state which is an end state")
self.assertEqual(self.m.run("123@5363@968495#"),
"reached last_state which is an end state")
self.assertEqual(self.m.run("123@@968495#"),
"reached last_state which is an end state")
def test_wrong_pattern(self):
self.assertEqual(self.m.run("12@2345"),
"reached error_state which is an end state")
self.assertEqual(self.m.run("122345#"),
"reached error_state which is an end state")
self.assertEqual(self.m.run("12@23f45#"),
"reached error_state which is an end state")
stateMachine = StateMachine()
stateMachine.add_state("STARTING_INTERACTION", startInteraction)
stateMachine.add_state("WAITING_FOR_ROBOT_TO_CONNECT",
waitForRobotToConnect)
stateMachine.add_state("WAITING_FOR_WORD", waitForWord)
stateMachine.add_state("RESPONDING_TO_NEW_WORD", respondToNewWord)
stateMachine.add_state("PUBLISHING_WORD", publishWord)
stateMachine.add_state("WAITING_FOR_LETTER_TO_FINISH",
waitForShapeToFinish)
stateMachine.add_state("ASKING_FOR_FEEDBACK", askForFeedback)
stateMachine.add_state("WAITING_FOR_FEEDBACK", waitForFeedback)
stateMachine.add_state("RESPONDING_TO_DEMONSTRATION_FULL_WORD",
respondToDemonstrationWithFullWord)
stateMachine.add_state("EXIT", None, end_state=True)
stateMachine.set_start("WAITING_FOR_ROBOT_TO_CONNECT")
infoForStartState = {
'state_goTo': ["STARTING_INTERACTION"],
'state_cameFrom': None
}
#listen for words to write
words_subscriber = rospy.Subscriber(WORDS_TOPIC, String, onWordReceived)
#listen for request to clear screen (from tablet)
clear_subscriber = rospy.Subscriber(CLEAR_SURFACE_TOPIC, Empty,
onClearScreenReceived)
#listen for user-drawn shapes
shape_subscriber = rospy.Subscriber(PROCESSED_USER_SHAPE_TOPIC, ShapeMsg,
onUserDrawnShapeReceived)
#listen for user-drawn finger gestures
gesture_subscriber = rospy.Subscriber(GESTURE_TOPIC, PointStamped,
def not_state_transitions(txt):
splitted_txt = txt.split(None, 1)
word, txt = splitted_txt if len(splitted_txt) > 1 else (txt, "")
if word in positive_adjectives:
newState = "neg_state"
elif word in negative_adjectives:
newState = "pos_state"
else:
newState = "error_state"
return (newState, txt)
if __name__ == "__main__":
m = StateMachine()
m.add_state("Start", start_transitions) # 添加初始状态
m.add_state("Python_state", python_state_transitions)
m.add_state("is_state", is_state_transitions)
m.add_state("not_state", not_state_transitions)
m.add_state("neg_state", None, end_state=1) # 添加最终状态
m.add_state("pos_state", None, end_state=1)
m.add_state("error_state", None, end_state=1)
m.set_start("Start") # 设置开始状态
m.run("Python is great")
m.run("Python is not fun")
m.run("Perl is ugly")
m.run("Python is")
m.run("Pythoniseasy")
class Testblock:
def __init__(self, testblock_name, metrics):
self.testblock_name = testblock_name
rospy.Subscriber("/atf/" + self.testblock_name + "/Trigger", Trigger,
self.trigger_callback)
self.transition = None
self.metrics = metrics
self.m = StateMachine(self.testblock_name)
self.m.add_state(Status.PURGED, self.purged_state)
self.m.add_state(Status.ACTIVE, self.active_state)
self.m.add_state(Status.PAUSED, self.paused_state)
self.m.add_state(Status.FINISHED, self.finished_state, end_state=True)
self.m.add_state(Status.ERROR, self.error_state, end_state=True)
self.m.set_start(Status.PURGED)
self.m.run()
def trigger_callback(self, msg):
self.transition = msg.trigger
def purge(self):
for metric in self.metrics:
metric.purge()
def activate(self):
for metric in self.metrics:
metric.start()
def pause(self):
self.stop()
def finish(self):
self.stop()
def exit(self):
self.transition = Trigger.ERROR
def stop(self):
for metric in self.metrics:
metric.stop()
def get_state(self):
return self.m.get_current_state()
def purged_state(self):
while not rospy.is_shutdown() and self.transition is None:
continue
if self.transition == Trigger.PURGE:
# is already purged
new_state = Status.PURGED
elif self.transition == Trigger.ACTIVATE:
self.activate()
new_state = Status.ACTIVE
elif self.transition == Trigger.PAUSE:
new_state = Status.ERROR
elif self.transition == Trigger.FINISH:
new_state = Status.ERROR
elif self.transition == Trigger.ERROR:
new_state = Status.ERROR
else:
new_state = Status.ERROR
self.transition = None
return new_state
def active_state(self):
while not rospy.is_shutdown() and self.transition is None:
continue
if self.transition == Trigger.PURGE:
self.purge()
new_state = Status.PURGED
elif self.transition == Trigger.ACTIVATE:
# is already active
new_state = Status.ACTIVE
elif self.transition == Trigger.PAUSE:
self.pause()
new_state = Status.PAUSED
elif self.transition == Trigger.FINISH:
self.finish()
new_state = Status.FINISHED
elif self.transition == Trigger.ERROR:
new_state = Status.ERROR
else:
new_state = Status.ERROR
self.transition = None
return new_state
def paused_state(self):
while not rospy.is_shutdown() and self.transition is None:
continue
if self.transition == Trigger.PURGE:
self.purge()
new_state = Status.PURGED
elif self.transition == Trigger.ACTIVATE:
self.activate()
new_state = Status.ACTIVE
elif self.transition == Trigger.PAUSE:
# is already paused
new_state = Status.PAUSED
elif self.transition == Trigger.FINISH:
self.finish()
new_state = Status.FINISHED
elif self.transition == Trigger.ERROR:
new_state = Status.ERROR
else:
new_state = Status.ERROR
self.transition = None
return new_state
def finished_state(self):
pass
def error_state(self):
pass
def not_state_transitions(txt):
splitted_txt = txt.split(None, 1)
word, txt = splitted_txt if len(splitted_txt) > 1 else (txt, "")
if word in positive_adjectives:
new_state = "neg_state"
elif word in negative_adjectives:
new_state = "pos_state"
else:
new_state = "error_state"
return (new_state, txt)
def neg_state(txt):
print("Hallo")
return ("neg_state", "")
if __name__ == "__main__":
m = StateMachine()
m.add_state("Start", start_transitions)
m.add_state("Python_state", python_state_transition)
m.add_state("is_state", is_state_transitions)
m.add_state("not_state", not_state_transitions)
m.add_state("neg_state", None, end_state=1)
m.add_state("pos_state", None, end_state=1)
m.add_state("error_state", None, end_state=1)
m.set_start("Start")
m.run("Python is great")
m.run("Python is difficult")
m.run("Perl is ugly")
return "green", next_input
if timer_input == 0:
return "red", next_input
def state_green(timer_input, next_input=randint(0, 1)):
if timer_input == 1:
return "yellow", next_input
if timer_input == 0:
return "green", next_input
def state_yellow(timer_input, next_input=randint(0, 1)):
if timer_input == 1:
return "red", next_input
if timer_input == 0:
return "yellow", next_input
if __name__ == "__main__":
m = StateMachine()
m.add_state("red", state_red)
m.add_state("green", state_green)
m.add_state("yellow", state_yellow)
m.add_state("last_state", None, end_state=1)
m.add_state("error_state", None, end_state=1)
m.set_start("red")
while True:
m.run(randint(0, 1))
stateMachine.add_state("WAITING_FOR_ROBOT_TO_CONNECT", waitForRobotToConnect);
stateMachine.add_state("WAITING_FOR_WORD", waitForWord);
stateMachine.add_state("RESPONDING_TO_NEW_WORD", respondToNewWord);
stateMachine.add_state("PUBLISHING_WORD", publishWord);
stateMachine.add_state("PUBLISHING_LETTER", publishShape);
stateMachine.add_state("WAITING_FOR_LETTER_TO_FINISH", waitForShapeToFinish);
stateMachine.add_state("ASKING_FOR_FEEDBACK", askForFeedback);
stateMachine.add_state("WAITING_FOR_FEEDBACK", waitForFeedback);
stateMachine.add_state("RESPONDING_TO_FEEDBACK", respondToFeedback);
stateMachine.add_state("RESPONDING_TO_DEMONSTRATION", respondToDemonstration);
stateMachine.add_state("RESPONDING_TO_TEST_CARD", respondToTestCard);
#stateMachine.add_state("RESPONDING_TO_TABLET_DISCONNECT", respondToTabletDisconnect);
stateMachine.add_state("WAITING_FOR_TABLET_TO_CONNECT", waitForTabletToConnect);
stateMachine.add_state("STOPPING", stopInteraction);
stateMachine.add_state("EXIT", None, end_state=True);
stateMachine.set_start("WAITING_FOR_ROBOT_TO_CONNECT");
infoForStartState = {'state_goTo': ["STARTING_INTERACTION"], 'state_cameFrom': None};
wordToLearn = args.word;
if(wordToLearn is not None):
message = String();
message.data = wordToLearn;
onWordReceived(message);
else:
print('Waiting for word to write');
stateMachine.run(infoForStartState);
rospy.spin();
tabletWatchdog.stop();
class Testblock:
def __init__(self, testblock_name, metrics):
self.testblock_name = testblock_name
rospy.Subscriber("/atf/" + self.testblock_name + "/Trigger", Trigger, self.trigger_callback)
self.transition = None
self.metrics = metrics
self.m = StateMachine(self.testblock_name)
self.m.add_state(Status.PURGED, self.purged_state)
self.m.add_state(Status.ACTIVE, self.active_state)
self.m.add_state(Status.PAUSED, self.paused_state)
self.m.add_state(Status.FINISHED, self.finished_state, end_state=True)
self.m.add_state(Status.ERROR, self.error_state, end_state=True)
self.m.set_start(Status.PURGED)
self.m.run()
def trigger_callback(self, msg):
self.transition = msg.trigger
def purge(self):
for metric in self.metrics:
metric.purge()
def activate(self):
for metric in self.metrics:
metric.start()
def pause(self):
self.stop()
def finish(self):
self.stop()
def exit(self):
self.transition = Trigger.ERROR
def stop(self):
for metric in self.metrics:
metric.stop()
def get_state(self):
return self.m.get_current_state()
def purged_state(self):
while not rospy.is_shutdown() and self.transition is None:
continue
if self.transition == Trigger.PURGE:
# is already purged
new_state = Status.PURGED
elif self.transition == Trigger.ACTIVATE:
self.activate()
new_state = Status.ACTIVE
elif self.transition == Trigger.PAUSE:
new_state = Status.ERROR
elif self.transition == Trigger.FINISH:
new_state = Status.ERROR
elif self.transition == Trigger.ERROR:
new_state = Status.ERROR
else:
new_state = Status.ERROR
self.transition = None
return new_state
def active_state(self):
while not rospy.is_shutdown() and self.transition is None:
continue
if self.transition == Trigger.PURGE:
self.purge()
new_state = Status.PURGED
elif self.transition == Trigger.ACTIVATE:
# is already active
new_state = Status.ACTIVE
elif self.transition == Trigger.PAUSE:
self.pause()
new_state = Status.PAUSED
elif self.transition == Trigger.FINISH:
self.finish()
new_state = Status.FINISHED
elif self.transition == Trigger.ERROR:
new_state = Status.ERROR
else:
new_state = Status.ERROR
self.transition = None
return new_state
def paused_state(self):
while not rospy.is_shutdown() and self.transition is None:
continue
if self.transition == Trigger.PURGE:
self.purge()
new_state = Status.PURGED
elif self.transition == Trigger.ACTIVATE:
self.activate()
new_state = Status.ACTIVE
elif self.transition == Trigger.PAUSE:
# is already paused
new_state = Status.PAUSED
elif self.transition == Trigger.FINISH:
self.finish()
new_state = Status.FINISHED
elif self.transition == Trigger.ERROR:
new_state = Status.ERROR
else:
new_state = Status.ERROR
self.transition = None
return new_state
def finished_state(self):
pass
def error_state(self):
pass
def not_state_transitions(txt):
splitted_txt = txt.split(None, 1)
word, txt = splitted_txt if len(splitted_txt) > 1 else (txt, "")
if word in positive_adjectives:
new_state = "neg_state"
elif word in negative_adjectives:
new_state = "pos_state"
else:
new_state = "error_state"
return (new_state, txt)
def neg_state(txt):
print("Hallo")
return ("neg_state", "")
if __name__ == "__main__":
m = StateMachine()
m.add_state("Start", start_transitions)
m.add_state("Python_state", python_state_transition)
m.add_state("is_state", is_state_transitions)
m.add_state("not_state", not_state_transitions)
m.add_state("neg_state", None, end_state=1)
m.add_state("pos_state", None, end_state=1)
m.add_state("error_state", None, end_state=1)
m.set_start("Start")
m.run("Python is great")
m.run("Python is difficult")
m.run("Perl is ugly")
rospy.init_node("activity_nao")
# add all state to state machine
stateMachine = StateMachine()
stateMachine.add_state("STARTING_INTERACTION", startInteraction)
stateMachine.add_state("WAITING_FOR_PATH", waitForPath)
stateMachine.add_state("RESPONDING_TO_NEW_PATH", respondToNewPath)
stateMachine.add_state("WAITING_FOR_PATH_TO_FINISH", waitForPathToFinish)
#stateMachine.add_state("ASKING_PLAY_GAME", askToPlayGame)
stateMachine.add_state("WAITING_FOR_GAME_TO_FINISH", waitForGameToFinish)
stateMachine.add_state("RESPONDING_TO_CHILD_SCORE", respondToChildScore)
stateMachine.add_state("IDLE", onIdle)
stateMachine.add_state("EXIT", None, end_state=True)
stateMachine.add_state("FAIL", onRobotFailed)
stateMachine.set_start("STARTING_INTERACTION")
infoForStartState = {'state_cameFrom': None}
#listen for path to draw
path_subscriber = rospy.Subscriber(PATH_TOPIC, Path, onPathReceived)
#listen for child score
score_subscriber = rospy.Subscriber(SCORE_TOPIC, Float32, onScoreReceived)
#listen for state requests
state_request_subscriber = rospy.Subscriber(STATE_REQUEST_TOPIC, String,
onStateRequestReceived)
#listen for finished path
path_finished_subscriber = rospy.Subscriber(PATH_FINISHED_TOPIC, Empty,
onPathFinished)
#listen for dialog options
dialog_options_subscriber = rospy.Subscriber(DIALOG_OPTION_TOPIC, String,
onDialogOptionsReceived)
if char == "@":
return "first_state", text
if char == "#":
return "third_state", text
return "start_state", text
def state_three(text: str):
try:
char, text = text[0], text[1:]
except IndexError:
return "last_state", text
if char == "@":
return "first_state", text
return "start_state", text
if __name__ == "__main__":
m = StateMachine()
m.add_state("start_state", state_zero)
m.add_state("first_state", state_one)
m.add_state("second_state", state_two)
m.add_state("third_state", state_three)
m.add_state("last_state", None, end_state=1)
m.add_state("error_state", None, end_state=1)
m.set_start("start_state")
m.run("@234#")
m.run("1@638#")
m.run("@139#1")
