def create_statemachine(self, state_machine_model):
NestedState.separator = ':'
states = [{
'name': 'base',
'children': ['inactive', 'preparing', 'committed']
}]
transitions = [['unavailable', 'base', 'base:inactive'],
['task_created', 'base:inactive', 'base:preparing'],
['commit', 'base:preparing', 'base:committed'],
['no_commit', 'base:committed', 'base:preparing'],
['completed', 'base:committed', 'base:inactive'],
['failed', 'base:committed', 'base:inactive'],
['default', 'base:inactive', 'base:inactive'],
['default', 'base:committed', 'base:committed'],
['default', 'base', 'base']]
statemachine = Machine(model=state_machine_model,
states=states,
transitions=transitions,
initial='base',
ignore_invalid_triggers=True)
statemachine.on_enter('base:inactive', 'INACTIVE')
statemachine.on_enter('base:preparing', 'PREPARING')
statemachine.on_enter('base:committed', 'COMMITTED')
return statemachine
class ConnectionStateMachine:
"""HSMS Connection state machine."""
def __init__(self, callbacks=None):
"""
Initialize the hsms connection state machine.
:param callbacks: callbacks for the state machine
"""
self.callbacks = {}
self.states = [
STATE_NOT_CONNECTED, {
'name':
STATE_CONNECTED,
'on_enter':
self._on_enter_CONNECTED,
'on_exit':
self._on_exit_CONNECTED,
'children': [
STATE_NOT_SELECTED, {
'name': STATE_SELECTED,
'on_enter': self._on_enter_CONNECTED_SELECTED
}
]
}
]
# transition 1
self.machine = Machine(model=self,
states=self.states,
initial=STATE_NOT_CONNECTED,
auto_transitions=False)
if callbacks:
self.callbacks = callbacks
self.machine.add_transition(
'connect', STATE_NOT_CONNECTED,
STATE_CONNECTED_NOT_SELECTED) # transition 2
self.machine.add_transition('disconnect', STATE_CONNECTED,
STATE_NOT_CONNECTED) # transition 3
self.machine.add_transition('select', STATE_CONNECTED_NOT_SELECTED,
STATE_CONNECTED_SELECTED) # transition 4
self.machine.add_transition(
'deselect', STATE_CONNECTED_SELECTED,
STATE_CONNECTED_NOT_SELECTED) # transition 5
self.machine.add_transition('timeoutT7', STATE_CONNECTED_NOT_SELECTED,
STATE_NOT_CONNECTED) # transition 6
def _on_enter_CONNECTED(self):
if "on_enter_CONNECTED" in self.callbacks:
self.callbacks["on_enter_CONNECTED"]()
def _on_exit_CONNECTED(self):
if "on_exit_CONNECTED" in self.callbacks:
self.callbacks["on_exit_CONNECTED"]()
def _on_enter_CONNECTED_SELECTED(self):
if "on_enter_CONNECTED_SELECTED" in self.callbacks:
self.callbacks["on_enter_CONNECTED_SELECTED"]()
def a2():
NestedState.separator = '↦' # 配置状态分隔符, 嵌套的状态会自动加上这个符号
states = [
'A', # 状态 A
'B', # 状态 B
{
'name': 'C', # 状态 C
'children':[
'1', '2', # 状态 C↦1 C↦2
{
'name': '3', # 状态 C↦3
'children': [
'a', 'b', 'c' # 状态 C↦3↦a C↦3↦b C↦3↦c
]
}
]
}
]
transitions = [ # 状态转移表
['reset', 'C', 'A'],
['reset', 'C↦2', 'C'] # overwriting parent reset
]
# we rely on auto transitions
machine = Machine(states=states, transitions=transitions, initial='A')
machine.to_B() # exit state A, enter state B
machine.to_C() # exit B, enter C
machine.to_C.s3.a() # enter C↦a; enter C↦3↦a; # 状态为数字, 前面加上 s 字母
print(machine.state)
# if __name__ == "__main__":
# a2()
def __init__(self, num_edges):
self.max_edges = num_edges # stops seeking after finding this many edges
self.reset_edge_count()
self.ch = CliffHandler()
self.states = [
'idle', 'edge_finding', {
'name': 'clearing',
'children': self.ch,
'remap': {
'done': 'cleared'
}
}, {
'name': 'cleared',
'on_enter': 'check_if_done'
}, 'final_move', 'mission_complete'
]
Machine.__init__(self, states=self.states, initial='idle')
self.add_transition('start',
'idle',
'edge_finding',
before=['reset_edge_count'])
self.add_transition('at_cliff',
'edge_finding',
'clearing',
before=['increment_edge_count'],
after='to_clearing_angle_finding')
self.add_transition('at_goal', 'final_move', 'mission_complete')
def test_wrong_nesting(self):
correct = ['A', {'name': 'B', 'children': self.stuff.machine}]
wrong_type = ['A', {'name': 'B', 'children': self.stuff}]
siblings = ['A', {'name': 'B', 'children': ['1', self.stuff.machine]}]
collision = ['A', {'name': 'B', 'children': ['A', self.stuff.machine]}]
m = Machine(None, states=correct)
if State.separator in '_':
m.to_B_C_3_a()
else:
m.to_B.C.s3.a()
with self.assertRaises(ValueError):
m = Machine(None, states=wrong_type)
with self.assertRaises(ValueError):
m = Machine(None, states=collision)
m = Machine(None, states=siblings)
if State.separator in '_':
m.to_B_1()
m.to_B_A()
else:
m.to_B.s1()
m.to_B.A()
def test_blueprint_simple(self):
states = ['A', 'B', 'C', 'D']
# Define with list of dictionaries
transitions = [{
'trigger': 'walk',
'source': 'A',
'dest': 'B'
}, {
'trigger': 'run',
'source': 'B',
'dest': 'C'
}, {
'trigger': 'sprint',
'source': 'C',
'dest': 'D'
}]
m = Machine(states=states,
transitions=transitions,
before_state_change='before_state_change',
after_state_change='after_state_change',
initial='A')
self.assertEqual(len(m.blueprints['states']), 4)
self.assertEqual(m.blueprints['states'][3], 'D')
self.assertEqual(len(m.blueprints['transitions']), 3)
self.assertEqual(m.blueprints['transitions'][2]['trigger'], 'sprint')
m.add_transition('fly', 'D', 'A')
self.assertEqual(len(m.blueprints['transitions']), 4)
self.assertEqual(m.blueprints['transitions'][3]['source'], 'D')
def a1():
states = [
'standing', # 站立
'walking', # 不行
{
'name': 'caffeinated', # 精神抖擞
'initial': 'dithering',
'children':[
'dithering', # 抖动
'running', # 跑
]
}
]
transitions = [
['walk', 'standing', 'walking'], # 走 : 站立->步行
['stop', 'walking', 'standing'], # 停 : 步行->站立
['drink', "standing", 'caffeinated'], # 喝 : *->精神抖擞
['walk', ['caffeinated', 'caffeinated_dithering'], 'caffeinated_running'], # 走 :
['relax', 'caffeinated', 'standing'], # 放松 :
]
machine = Machine(states=states, transitions=transitions, initial='standing', ignore_invalid_triggers=True)
# machine.walk() # Walking now
# machine.stop() # let's stop for a moment
machine.drink() # coffee time
print(machine.state)
def test_wrong_nesting(self):
correct = ['A', {'name': 'B', 'children': self.stuff.machine}]
wrong_type = ['A', {'name': 'B', 'children': self.stuff}]
siblings = ['A', {'name': 'B', 'children': ['1', self.stuff.machine]}]
collision = ['A', {'name': 'B', 'children': ['A', self.stuff.machine]}]
m = Machine(None, states=correct)
if State.separator in '_':
m.to_B_C_3_a()
else:
m.to_B.C.s3.a()
with self.assertRaises(ValueError):
m = Machine(None, states=wrong_type)
with self.assertRaises(ValueError):
m = Machine(None, states=collision)
m = Machine(None, states=siblings)
if State.separator in '_':
m.to_B_1()
m.to_B_A()
else:
m.to_B.s1()
m.to_B.A()
def test_blueprint_nested(self):
c1 = NestedState('C_1', parent='C')
c2 = NestedState('C_2', parent='C')
c3 = NestedState('C_3', parent='C')
c = NestedState('C', children=[c1, c2, c3])
states = ['A', {'name': 'B', 'on_enter': 'chirp', 'children': ['1', '2', '3']},
c, 'D']
# Define with list of dictionaries
transitions = [
{'trigger': 'walk', 'source': 'A', 'dest': 'B','before': 'before_state_change',
'after': 'after_state_change' },
{'trigger': 'run', 'source': 'B', 'dest': 'C'},
{'trigger': 'sprint', 'source': 'C', 'dest': 'D'}
]
m = Machine(states=states, transitions=transitions, before_state_change='before_state_change',
after_state_change='after_state_change', initial='A')
m.before_state_change = MagicMock()
m.after_state_change = MagicMock()
self.assertEqual(len(m.blueprints['states']), 4)
self.assertEqual(m.blueprints['states'][3], 'D')
self.assertEqual(len(m.blueprints['transitions']), 3)
# transition 'walk' before should contain two calls of the same method
self.assertEqual(len(m.blueprints['transitions'][0]['before']), 2)
self.assertEqual(len(m.blueprints['transitions'][0]['after']), 2)
self.assertEqual(len(m.blueprints['transitions'][1]['before']), 1)
self.assertEqual(m.blueprints['transitions'][2]['trigger'], 'sprint')
m.add_transition('fly', 'D', 'A')
self.assertEqual(len(m.blueprints['transitions']), 4)
self.assertEqual(m.blueprints['transitions'][3]['source'], 'D')
def __init__(self):
self.nested = Nested(self)
self.states = ['t1', {'name': 't2', 'children': self.nested}]
Machine.__init__(self, states=self.states, initial='t1')
self.add_transition(trigger='print_top',
source='*',
dest='=',
after=self.print_msg)
self.add_transition(trigger='goto_t2', source='*', dest='t2_n1')
def __init__(self):
self.states = [{
'name': 'angle_finding',
'on_enter': self.save_start_pose,
'on_exit': self.save_end_pose
}, 'aligning', 'backing', 'spinning', 'done']
Machine.__init__(self, states=self.states, initial='angle_finding')
self.add_transition('at_cliff', 'angle_finding', 'aligning')
self.add_transition('at_goal', 'aligning', 'backing')
self.add_transition('at_goal', 'backing', 'spinning')
self.add_transition('at_goal', 'spinning', 'done')
self.add_transition('at_goal', 'angle_finding', 'backing')
self.add_transition('at_cliff', 'aligning', 'backing')
def test_blueprint_nested(self):
c1 = NestedState('C_1', parent='C')
c2 = NestedState('C_2', parent='C')
c3 = NestedState('C_3', parent='C')
c = NestedState('C', children=[c1, c2, c3])
states = [
'A', {
'name': 'B',
'on_enter': 'chirp',
'children': ['1', '2', '3']
}, c, 'D'
]
# Define with list of dictionaries
transitions = [{
'trigger': 'walk',
'source': 'A',
'dest': 'B',
'before': 'before_state_change',
'after': 'after_state_change'
}, {
'trigger': 'run',
'source': 'B',
'dest': 'C'
}, {
'trigger': 'sprint',
'source': 'C',
'dest': 'D'
}]
m = Machine(states=states,
transitions=transitions,
before_state_change='before_state_change',
after_state_change='after_state_change',
initial='A')
m.before_state_change = MagicMock()
m.after_state_change = MagicMock()
self.assertEqual(len(m.blueprints['states']), 4)
self.assertEqual(m.blueprints['states'][3], 'D')
self.assertEqual(len(m.blueprints['transitions']), 3)
# transition 'walk' before should contain two calls of the same method
self.assertEqual(len(m.blueprints['transitions'][0]['before']), 2)
self.assertEqual(len(m.blueprints['transitions'][0]['after']), 2)
self.assertEqual(len(m.blueprints['transitions'][1]['before']), 1)
self.assertEqual(m.blueprints['transitions'][2]['trigger'], 'sprint')
m.add_transition('fly', 'D', 'A')
self.assertEqual(len(m.blueprints['transitions']), 4)
self.assertEqual(m.blueprints['transitions'][3]['source'], 'D')
def __init__ (self, name):
annotator.__init__(self, name)
self.machine = Machine(model=self, states=HFSA15._states, initial='waiting')
self.machine.add_transition('start_analysis', 'waiting', 'searching_for_first_spondeus_secondF', after='_search_second')
self.machine.add_transition('search_spondeus', 'searching_for_first_spondeus_secondF', 'searching_for_first_spondeus_firstF', unless=[self._found_first], after='_search_first')
self.machine.add_transition('search_spondeus', 'searching_for_first_spondeus_secondF', 'searching_for_second_spondeus_firstF', conditions=[self._found_first], after='_search_first')
self.machine.add_transition('search_spondeus', 'searching_for_second_spondeus_firstF', 'found_two_spondees', conditions=[self._found_second])
self.machine.add_transition('search_spondeus', 'searching_for_second_spondeus_firstF', 'searching_for_second_spondeus_fourthF', unless=[self._found_second], after='_search_fourth')
self.machine.add_transition('search_spondeus', 'searching_for_first_spondeus_firstF', 'searching_for_first_spondeus_fourthF', unless=[self._found_first], after='_search_fourth')
self.machine.add_transition('search_spondeus', 'searching_for_first_spondeus_firstF', 'searching_for_second_spondeus_fourthF', conditions=[self._found_first], after='_search_fourth')
self.machine.add_transition('search_spondeus', 'searching_for_second_spondeus_fourthF', 'found_two_spondees', conditions=[self._found_second])
self.machine.add_transition('search_spondeus', 'searching_for_second_spondeus_fourthF', 'searching_for_second_spondeus_thirdF', unless=[self._found_second], after='_search_third')
self.machine.add_transition('search_spondeus', 'searching_for_first_spondeus_fourthF', 'searching_for_first_spondeus_thirdF', unless=[self._found_first], after='_search_third')
self.machine.add_transition('search_spondeus', 'searching_for_first_spondeus_fourthF', 'searching_for_second_spondeus_thirdF', conditions=[self._found_first], after='_search_third')
self.machine.add_transition('search_spondeus', 'searching_for_second_spondeus_thirdF', 'found_two_spondees', conditions=[self._found_second])
self.machine.add_transition('search_spondeus', 'searching_for_second_spondeus_thirdF', 'searching_for_second_spondeus_fifthF', unless=[self._found_second], after='_search_fifth')
self.machine.add_transition('search_spondeus', 'searching_for_first_spondeus_thirdF', 'no_spondeus_found', unless=[self._found_first])
self.machine.add_transition('search_spondeus', 'searching_for_first_spondeus_thirdF', 'searching_for_second_spondeus_fifthF', conditions=[self._found_first], after='_search_fifth')
self.machine.add_transition('search_spondeus', 'searching_for_second_spondeus_fifthF', 'found_two_spondees', conditions=[self._found_second])
#deal with implausible spondeus positions
self.machine.add_transition('search_spondeus', 'found_two_spondees', 'no_spondeus_found')
self.machine.add_transition('search_spondeus', 'searching_for_second_spondeus_fifthF', 'no_spondeus_found', unless=[self._found_second])
self.machine.add_transition('not_found', 'no_spondeus_found', 'fallback')
self.machine.add_transition('verified', 'fallback', 'correction', unless=[self._is_successful])
self.machine.add_transition('verified', 'fallback', 'success', conditions=[self._is_successful])
self.machine.add_transition('verified', 'found_two_spondees', 'success', conditions=[self._is_successful])
self.machine.add_transition('verified', 'found_two_spondees', 'correction', unless=[self._is_successful])
self.machine.add_transition('corrected', 'correction', 'success', conditions=[self._is_successful])
self.machine.add_transition('corrected', 'correction', 'failure', unless=[self._is_successful])
def test_blueprint_simple(self):
states = ['A', 'B', 'C', 'D']
# Define with list of dictionaries
transitions = [
{'trigger': 'walk', 'source': 'A', 'dest': 'B'},
{'trigger': 'run', 'source': 'B', 'dest': 'C'},
{'trigger': 'sprint', 'source': 'C', 'dest': 'D'}
]
m = Machine(states=states, transitions=transitions, before_state_change='before_state_change',
after_state_change='after_state_change', initial='A')
self.assertEqual(len(m.blueprints['states']), 4)
self.assertEqual(m.blueprints['states'][3], 'D')
self.assertEqual(len(m.blueprints['transitions']), 3)
self.assertEqual(m.blueprints['transitions'][2]['trigger'], 'sprint')
m.add_transition('fly', 'D', 'A')
self.assertEqual(len(m.blueprints['transitions']), 4)
self.assertEqual(m.blueprints['transitions'][3]['source'], 'D')
class SimpleFSA(annotator):
_states = [
{'name': 'waiting', 'on_enter': '_reset_positions'},
{'name': 'analysing'},
{'name': 'finished'}
]
def __init__(self, name):
annotator.__init__(self, name)
self.machine = Machine(model=self, states=SimpleFSA._states, initial='waiting')
self.machine.add_transition(trigger='start_analysis', source='waiting', dest='analysing', after='_analyse')
self.machine.add_transition('corrected', 'analysing', 'finished')
def verify(self, line):
return annotator._verify_string(self, line)
def _analyse(self):
annotator._correct(self)
class ConnectionStateMachine(object):
states = [
"NOT_CONNECTED", {
'name': 'CONNECTED',
'children': ['NOT_SELECTED', 'SELECTED']
}
]
def __init__(self, callbacks=None):
self.machine = Machine(model=self,
states=ConnectionStateMachine.states,
initial='NOT_CONNECTED',
auto_transitions=False,
queued=True) # transition 1
if callbacks is None:
self.callbacks = {}
else:
self.callbacks = callbacks
self.machine.add_transition('connect', 'NOT_CONNECTED',
'CONNECTED_NOT_SELECTED') # transition 2
self.machine.add_transition('disconnect', 'CONNECTED',
'NOT_CONNECTED') # transition 3
self.machine.add_transition('select', 'CONNECTED_NOT_SELECTED',
'CONNECTED_SELECTED') # transition 4
self.machine.add_transition('deselect', 'CONNECTED_SELECTED',
'CONNECTED_NOT_SELECTED') # transition 5
self.machine.add_transition('timeoutT7', 'CONNECTED_NOT_SELECTED',
'NOT_CONNECTED') # transition 6
def on_enter_CONNECTED(self):
if "on_enter_CONNECTED" in self.callbacks:
self.callbacks["on_enter_CONNECTED"]()
def on_exit_CONNECTED(self):
if "on_exit_CONNECTED" in self.callbacks:
self.callbacks["on_exit_CONNECTED"]()
def on_enter_CONNECTED_SELECTED(self):
if "on_enter_CONNECTED_SELECTED" in self.callbacks:
self.callbacks["on_enter_CONNECTED_SELECTED"]()
def __init__(self,
server_uri: tuple = None,
ssl_mode=False,
cert_path=CERT_PATH):
"""
客户端初始化
:param server_uri: 服务器地址
:param ssl_mode: 是否使用SSL
:param cert_path: 服务器证书路径
"""
# 状态机初始化
Machine.__init__(self,
states=STATES,
transitions=TRANSITIONS,
initial="INIT",
send_event=True,
**extra_args)
self.__machine_init()
# socket初始化
self.raw_sock = socket.create_connection(server_uri)
self.work_sock = None
if ssl_mode:
print('使用SSL模式加密传输')
self.context = ssl.SSLContext(ssl.PROTOCOL_TLS_CLIENT)
self.context.load_verify_locations(cert_path)
self.work_sock = self.context.wrap_socket(
self.raw_sock, server_hostname=server_uri[0])
else:
print('不使用SSL')
self.work_sock = self.raw_sock
# 其他参数
self.file_sock = None # 传输文件专用 socket
# 下载文件专用监听socket
# self.down_listen_sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
# self.down_listen_sock.bind((SERVER_HOST, SERVER_DATA_PORT))
# self.down_conn_sock = None # 下载文件连接socket
self.token = None # 用户临时口令
def __init__(self):
NestedState.separator = '>'
states = ['Main',
{'name': 'Profile', 'children': ['Gender', 'Age']},
{'name': 'Test1', 'children': [str(i) for i in range(1, 11)]},
'Result1',
{'name': 'Test2', 'children': ['1', '2', {'name': '3', 'children': [str(i) for i in range(1, 8)]}]},
'Result2'
'Wait',
'Admin'
]
transitions = [
['profile', 'Main', 'Profile>Gender'],
['next_q', 'Profile>Gender', 'Profile>Age'],
['test1', 'Main', 'Test1>1'],
['result1', 'Test1>10', 'Result1'],
['test2', 'Main', 'Test2>1'],
['result2', 'Test2>3>7', 'Result2'],
['reset', '*', 'Main'],
['admin', '*', 'Admin']
]
HierarchicalMachine.__init__(self, states=states, transitions=transitions, initial='Main')
# before_state_change='before_transition',
# after_state_change='after_transition')
st_list = list(['Test1>{0}'.format(i) for i in range(1, 11)])
st_list.append('Result1')
self.add_ordered_transitions(trigger='next_q', states=st_list, loop=False)
st_list = list(['Test2>3>{0}'.format(i) for i in range(1, 8)])
st_list.append('Result2')
self.add_ordered_transitions(trigger='next_q', states=st_list, loop=False)
self.add_ordered_transitions(trigger='next_part', states=['Test2>1', 'Test2>2', 'Test2>3>1'], loop=False)
self.t2_dream_category = int()
self.t2_dream_subject = int()
self.add_transition(trigger='wait', source='*', dest='Wait', before='before_wait', conditions=['proceed'])
self.previous_state = 'Main'
self.is_waiting = False
self.wait_interrupted = False
def __init__(self, name):
annotator.__init__(self, name)
self.machine = Machine(model=self, states=HFSA16._states, initial='waiting')
self.machine.add_transition(trigger='start_analysis', source='waiting', dest='searching_for_spondeus_secondF', after='_search_second')
self.machine.add_transition('found_spondeus', 'searching_for_spondeus_secondF', 'spondeus_found')
self.machine.add_transition('not_found', 'searching_for_spondeus_secondF', 'searching_for_spondeus_firstF', after='_search_first')
self.machine.add_transition('found_spondeus', 'searching_for_spondeus_firstF', 'spondeus_found')
self.machine.add_transition('not_found', 'searching_for_spondeus_firstF', 'searching_for_spondeus_fourthF', after='_search_fourth')
self.machine.add_transition('found_spondeus', 'searching_for_spondeus_fourthF', 'spondeus_found')
self.machine.add_transition('not_found', 'searching_for_spondeus_fourthF', 'searching_for_spondeus_thirdF', after='_search_third')
self.machine.add_transition('found_spondeus', 'searching_for_spondeus_thirdF', 'spondeus_found')
self.machine.add_transition('not_found', 'searching_for_spondeus_thirdF', 'searching_for_spondeus_fifthF', after='_search_fifth')
self.machine.add_transition('found_spondeus', 'searching_for_spondeus_fifthF', 'spondeus_found')
self.machine.add_transition('not_found', 'searching_for_spondeus_fifthF', 'no_spondeus_found')
self.machine.add_transition('not_found', 'no_spondeus_found', 'fallback')
self.machine.add_transition('verified', 'fallback', 'correction', unless=[self._is_successful])
self.machine.add_transition('verified', 'fallback', 'success', conditions=[self._is_successful])
self.machine.add_transition('verified', 'spondeus_found', 'success', conditions=[self._is_successful])
self.machine.add_transition('verified', 'spondeus_found', 'correction', unless=[self._is_successful])
self.machine.add_transition('corrected', 'correction', 'success', conditions=[self._is_successful])
self.machine.add_transition('corrected', 'correction', 'failure', unless=[self._is_successful])
def __init__(self, callbacks=None):
self.machine = Machine(model=self,
states=ConnectionStateMachine.states,
initial='NOT_CONNECTED',
auto_transitions=False,
queued=True) # transition 1
if callbacks is None:
self.callbacks = {}
else:
self.callbacks = callbacks
self.machine.add_transition('connect', 'NOT_CONNECTED',
'CONNECTED_NOT_SELECTED') # transition 2
self.machine.add_transition('disconnect', 'CONNECTED',
'NOT_CONNECTED') # transition 3
self.machine.add_transition('select', 'CONNECTED_NOT_SELECTED',
'CONNECTED_SELECTED') # transition 4
self.machine.add_transition('deselect', 'CONNECTED_SELECTED',
'CONNECTED_NOT_SELECTED') # transition 5
self.machine.add_transition('timeoutT7', 'CONNECTED_NOT_SELECTED',
'NOT_CONNECTED') # transition 6
def __init__(self):
rospy.wait_for_service('/performances/reload_properties')
# States for wholeshow
states = [{'name': 'sleeping', 'children': ['shutting']},
{'name': 'interacting', 'children': ['nonverbal']},
'performing', 'opencog', 'analysis']
HierarchicalMachine.__init__(self, states=states, initial='interacting')
# Transitions
self.add_transition('wake_up', 'sleeping', 'interacting')
# Transitions
self.add_transition('perform', 'interacting', 'performing')
self.add_transition('interact', 'performing', 'interacting')
self.add_transition('start_opencog', 'interacting', 'opencog')
self.add_transition('shut', 'sleeping', 'sleeping_shutting')
self.add_transition('be_quiet', 'interacting', 'interacting_nonverbal')
self.add_transition('start_talking', 'interacting_nonverbal', 'interacting')
# States handling
self.on_enter_sleeping("start_sleeping")
self.on_exit_sleeping("stop_sleeping")
self.on_enter_interacting("start_interacting")
self.on_exit_interacting("stop_interacting")
self.on_enter_sleeping_shutting("system_shutdown")
# ROS Handling
rospy.init_node('WholeShow')
self.btree_pub = rospy.Publisher("/behavior_switch", String, queue_size=5)
self.btree_sub = rospy.Subscriber("/behavior_switch", String, self.btree_cb)
self.soma_pub = rospy.Publisher('/blender_api/set_soma_state', SomaState, queue_size=10)
self.look_pub = rospy.Publisher('/blender_api/set_face_target', Target, queue_size=10)
self.gaze_pub = rospy.Publisher('/blender_api/set_gaze_target', Target, queue_size=10)
self.performance_runner = rospy.ServiceProxy('/performances/run_full_performance', srv.RunByName)
# Wholeshow starts with behavior enabled, unless set otherwise
rospy.set_param("/behavior_enabled", rospy.get_param("/behavior_enabled", True))
# Start sleeping. Wait for Blender to load
rospy.wait_for_service('/blender_api/set_param')
rospy.wait_for_service('/performances/current')
self.blender_param = rospy.ServiceProxy('/blender_api/set_param', SetParam)
time.sleep(2)
self.sleeping = rospy.get_param('start_sleeping', False)
if self.sleeping:
t = threading.Timer(1, self.to_sleeping)
t.start()
# Performance id as key and keyword array as value
self.performances_keywords = {}
# Parse on load.
# TODO make sure we reload those once performances are saved.
self.after_performance = False
# Speech handler. Receives all speech input, and forwards to chatbot if its not a command input,
# or chat is enabled
self.speech_sub = rospy.Subscriber('speech', ChatMessage, self.speech_cb)
self.speech_pub = rospy.Publisher('chatbot_speech', ChatMessage, queue_size=10)
# Sleep
self.performance_events = rospy.Subscriber('/performances/events', Event, self.performances_cb)
# Dynamic reconfigure
self.config = {}
self.cfg_srv = Server(WholeshowConfig, self.config_cb)
# Behavior was paused entering into state
self.behavior_paused = False
# Chatbot was paused entering the state
self.chatbot_paused = False
self.sleeping = rospy.get_param('start_sleeping', False)
# Preferred speech source
self.speech_provider = rospy.get_param("active_stt", 'cloudspeech')
self.speech_provider_active = False
rospy.Subscriber('{}/status'.format(self.speech_provider), Bool, self.stt_status_cb)
class HFSA16(annotator):
_states = [
{'name': 'waiting', 'on_enter': '_reset_positions'},
{'name': 'searching_for_spondeus', 'children': ['secondF', 'firstF', 'fourthF', 'thirdF', 'fifthF']},
{'name': 'spondeus_found', 'on_enter': '_verify_output'},
{'name': 'no_spondeus_found', 'on_enter': '_make_spondeus'},
{'name': 'fallback', 'on_enter': '_search_whole'},
{'name': 'correction', 'on_enter': '_correct'},
'success',
'failure'
]
def __init__(self, name):
annotator.__init__(self, name)
self.machine = Machine(model=self, states=HFSA16._states, initial='waiting')
self.machine.add_transition(trigger='start_analysis', source='waiting', dest='searching_for_spondeus_secondF', after='_search_second')
self.machine.add_transition('found_spondeus', 'searching_for_spondeus_secondF', 'spondeus_found')
self.machine.add_transition('not_found', 'searching_for_spondeus_secondF', 'searching_for_spondeus_firstF', after='_search_first')
self.machine.add_transition('found_spondeus', 'searching_for_spondeus_firstF', 'spondeus_found')
self.machine.add_transition('not_found', 'searching_for_spondeus_firstF', 'searching_for_spondeus_fourthF', after='_search_fourth')
self.machine.add_transition('found_spondeus', 'searching_for_spondeus_fourthF', 'spondeus_found')
self.machine.add_transition('not_found', 'searching_for_spondeus_fourthF', 'searching_for_spondeus_thirdF', after='_search_third')
self.machine.add_transition('found_spondeus', 'searching_for_spondeus_thirdF', 'spondeus_found')
self.machine.add_transition('not_found', 'searching_for_spondeus_thirdF', 'searching_for_spondeus_fifthF', after='_search_fifth')
self.machine.add_transition('found_spondeus', 'searching_for_spondeus_fifthF', 'spondeus_found')
self.machine.add_transition('not_found', 'searching_for_spondeus_fifthF', 'no_spondeus_found')
self.machine.add_transition('not_found', 'no_spondeus_found', 'fallback')
self.machine.add_transition('verified', 'fallback', 'correction', unless=[self._is_successful])
self.machine.add_transition('verified', 'fallback', 'success', conditions=[self._is_successful])
self.machine.add_transition('verified', 'spondeus_found', 'success', conditions=[self._is_successful])
self.machine.add_transition('verified', 'spondeus_found', 'correction', unless=[self._is_successful])
self.machine.add_transition('corrected', 'correction', 'success', conditions=[self._is_successful])
self.machine.add_transition('corrected', 'correction', 'failure', unless=[self._is_successful])
def _search_second(self):
fourth = self._search_long(4)
fifth = self._search_long(5)
if fourth and fifth:
self.verse.scansion = '-** -- -** -** -** -X'
self.found_spondeus()
elif fourth:
self.positions.append(4)
self.not_found()
elif fifth:
self.positions.append(5)
self.not_found()
else:
self.not_found()
def _search_first(self):
if self._search_long(2):
self.verse.scansion = '-- -** -** -** -** -X'
self.found_spondeus()
else:
self.not_found()
def _search_fourth(self):
tenth = self._search_long(10)
eleventh = self._search_long(11)
if tenth and eleventh:
self.verse.scansion = '-** -** -** -- -** -X'
self.found_spondeus()
elif tenth:
self.positions.append(10)
self.not_found()
elif eleventh:
self.positions.append(11)
self.not_found()
else:
self.not_found()
def _search_third(self):
seventh = self._search_long(7)
eigth = self._search_long(8)
if seventh and eigth:
self.verse.scansion = '-** -** -- -** -** -X'
self.found_spondeus()
elif seventh:
self.positions.append(7)
self.not_found()
elif eigth:
self.positions.append(8)
self.not_found()
else:
self.not_found()
def _search_fifth(self):
thirteenth = self._search_long(13)
fourteenth = self._search_long(14)
if thirteenth and fourteenth:
self.verse.scansion = '-** -** -** -** -- -X'
self.found_spondeus()
elif thirteenth:
self.positions.append(13)
self.not_found()
elif fourteenth:
self.positions.append(14)
self.not_found()
else:
self.not_found()
def _make_spondeus(self):
annotator._make_spondeus(self, 14)
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
class HFSA15(annotator):
_states = [
{'name': 'waiting', 'on_enter': '_reset_positions'},
{'name': 'searching_for_first_spondeus', 'children': ['secondF', 'firstF', 'fourthF', 'thirdF']},
{'name': 'searching_for_second_spondeus', 'children': ['firstF', 'fourthF', 'thirdF', 'fifthF']},
{'name': 'no_spondeus_found', 'on_enter': '_make_spondeus'},
{'name': 'found_two_spondees', 'on_enter': '_make_scansion'},
{'name': 'fallback', 'on_enter': '_search_whole'},
{'name': 'correction', 'on_enter': '_correct'},
'success',
'failure'
]
def __init__ (self, name):
annotator.__init__(self, name)
self.machine = Machine(model=self, states=HFSA15._states, initial='waiting')
self.machine.add_transition('start_analysis', 'waiting', 'searching_for_first_spondeus_secondF', after='_search_second')
self.machine.add_transition('search_spondeus', 'searching_for_first_spondeus_secondF', 'searching_for_first_spondeus_firstF', unless=[self._found_first], after='_search_first')
self.machine.add_transition('search_spondeus', 'searching_for_first_spondeus_secondF', 'searching_for_second_spondeus_firstF', conditions=[self._found_first], after='_search_first')
self.machine.add_transition('search_spondeus', 'searching_for_second_spondeus_firstF', 'found_two_spondees', conditions=[self._found_second])
self.machine.add_transition('search_spondeus', 'searching_for_second_spondeus_firstF', 'searching_for_second_spondeus_fourthF', unless=[self._found_second], after='_search_fourth')
self.machine.add_transition('search_spondeus', 'searching_for_first_spondeus_firstF', 'searching_for_first_spondeus_fourthF', unless=[self._found_first], after='_search_fourth')
self.machine.add_transition('search_spondeus', 'searching_for_first_spondeus_firstF', 'searching_for_second_spondeus_fourthF', conditions=[self._found_first], after='_search_fourth')
self.machine.add_transition('search_spondeus', 'searching_for_second_spondeus_fourthF', 'found_two_spondees', conditions=[self._found_second])
self.machine.add_transition('search_spondeus', 'searching_for_second_spondeus_fourthF', 'searching_for_second_spondeus_thirdF', unless=[self._found_second], after='_search_third')
self.machine.add_transition('search_spondeus', 'searching_for_first_spondeus_fourthF', 'searching_for_first_spondeus_thirdF', unless=[self._found_first], after='_search_third')
self.machine.add_transition('search_spondeus', 'searching_for_first_spondeus_fourthF', 'searching_for_second_spondeus_thirdF', conditions=[self._found_first], after='_search_third')
self.machine.add_transition('search_spondeus', 'searching_for_second_spondeus_thirdF', 'found_two_spondees', conditions=[self._found_second])
self.machine.add_transition('search_spondeus', 'searching_for_second_spondeus_thirdF', 'searching_for_second_spondeus_fifthF', unless=[self._found_second], after='_search_fifth')
self.machine.add_transition('search_spondeus', 'searching_for_first_spondeus_thirdF', 'no_spondeus_found', unless=[self._found_first])
self.machine.add_transition('search_spondeus', 'searching_for_first_spondeus_thirdF', 'searching_for_second_spondeus_fifthF', conditions=[self._found_first], after='_search_fifth')
self.machine.add_transition('search_spondeus', 'searching_for_second_spondeus_fifthF', 'found_two_spondees', conditions=[self._found_second])
#deal with implausible spondeus positions
self.machine.add_transition('search_spondeus', 'found_two_spondees', 'no_spondeus_found')
self.machine.add_transition('search_spondeus', 'searching_for_second_spondeus_fifthF', 'no_spondeus_found', unless=[self._found_second])
self.machine.add_transition('not_found', 'no_spondeus_found', 'fallback')
self.machine.add_transition('verified', 'fallback', 'correction', unless=[self._is_successful])
self.machine.add_transition('verified', 'fallback', 'success', conditions=[self._is_successful])
self.machine.add_transition('verified', 'found_two_spondees', 'success', conditions=[self._is_successful])
self.machine.add_transition('verified', 'found_two_spondees', 'correction', unless=[self._is_successful])
self.machine.add_transition('corrected', 'correction', 'success', conditions=[self._is_successful])
self.machine.add_transition('corrected', 'correction', 'failure', unless=[self._is_successful])
def _search_second(self):
third = self._search_long(3)
fourth = self._search_long(4)
fifth = self._search_long(5)
if third and fourth:
self.positions.append(3)
self.positions.append(4)
self._set_found()
elif fourth and fifth:
self.positions.append(4)
self.positions.append(5)
self._set_found()
else:
if third:
self.positions.append(3)
if fourth:
self.positions.append(4)
if fifth:
self.positions.append(5)
self.search_spondeus()
def _search_first(self):
first = self._search_long(1)
second = self._search_long(2)
if first and second:
self.positions.append(1)
self.positions.append(2)
self._set_found()
elif first:
self.positions.append(1)
elif second:
self.positions.append(2)
self.search_spondeus()
def _search_fourth(self):
ninth = self._search_long(9)
tenth = self._search_long(10)
eleventh = self._search_long(11)
if tenth and eleventh:
self.positions.append(10)
self.positions.append(11)
self._set_found()
elif ninth and tenth:
self.positions.append(9)
self.positions.append(10)
self._set_found()
else:
if ninth:
self.positions.append(9)
if tenth:
self.positions.append(10)
if eleventh:
self.positions.append(11)
self.search_spondeus()
def _search_third(self):
sixth = self._search_long(6)
seventh = self._search_long(7)
eigth = self._search_long(8)
if seventh and eigth:
self.positions.append(7)
self.positions.append(8)
self._set_found()
elif sixth and seventh:
self.positions.append(6)
self.positions.append(7)
self._set_found()
else:
if sixth:
self.positions.append(6)
if seventh:
self.positions.append(7)
if eigth:
self.positions.append(8)
self.search_spondeus()
def _search_fifth(self):
twelfth = self._search_long(12)
thirteenth = self._search_long(13)
if twelfth and thirteenth:
self.positions.append(12)
self.positions.append(13)
self._set_found()
elif twelfth:
self.positions.append(12)
elif thirteenth:
self.positions.append(13)
self.search_spondeus()
def _make_scansion(self):
if 2 in self.positions:
self.verse.scansion = '-- '
if 4 in self.positions:
self.verse.scansion+= '-- -** -** -** -X'
self._verify_output()
elif 7 in self.positions:
self.verse.scansion+= '-** -- -** -** -X'
self._verify_output()
elif 10 in self.positions:
self.verse.scansion+= '-** -** -- -** -X'
self._verify_output()
elif 13 in self.positions:
self.verse.scansion+= '-** -** -** -- -X'
self._verify_output()
else:
self.search_spondeus()
elif 5 in self.positions:
self.verse.scansion = '-** -- '
if 7 in self.positions:
self.verse.scansion+= '-- -** -** -X'
self._verify_output()
elif 10 in self.positions:
self.verse.scansion+= '-** -- -** -X'
self._verify_output()
elif 13 in self.positions:
self.verse.scansion+= '-** -** -- -X'
self._verify_output()
else:
self.search_spondeus()
elif 8 in self.positions:
self.verse.scansion = '-** -** -- '
if 10 in self.positions:
self.verse.scansion+= '-- -** -X'
self._verify_output()
elif 13 in self.positions:
self.verse.scansion+= '-** -- -X'
self._verify_output()
else:
self.search_spondeus()
elif 11 in self.positions:
self.verse.scansion = '-** -** -** -- -- -X'
self._verify_output()
else:
self.search_spondeus()
def _make_spondeus(self):
annotator._make_spondeus(self, 13)
def test_blueprint_initial_false(self):
child = Machine(states=['A', 'B'], initial='A')
parent = Machine(states=['a', 'b', {'name': 'c', 'children': child, 'initial': False}])
parent.to_c()
self.assertEqual(parent.state, 'c')
def test_blueprint_reuse(self):
states = ['1', '2', '3']
transitions = [
{
'trigger': 'increase',
'source': '1',
'dest': '2'
},
{
'trigger': 'increase',
'source': '2',
'dest': '3'
},
{
'trigger': 'decrease',
'source': '3',
'dest': '2'
},
{
'trigger': 'decrease',
'source': '1',
'dest': '1'
},
{
'trigger': 'reset',
'source': '*',
'dest': '1'
},
]
counter = Machine(states=states,
transitions=transitions,
before_state_change='check',
after_state_change='clear',
initial='1')
new_states = ['A', 'B', {'name': 'C', 'children': counter}]
new_transitions = [
{
'trigger': 'forward',
'source': 'A',
'dest': 'B'
},
{
'trigger': 'forward',
'source': 'B',
'dest': 'C%s1' % State.separator
},
{
'trigger': 'backward',
'source': 'C',
'dest': 'B'
},
{
'trigger': 'backward',
'source': 'B',
'dest': 'A'
},
{
'trigger': 'calc',
'source': '*',
'dest': 'C'
},
]
walker = Machine(states=new_states,
transitions=new_transitions,
before_state_change='watch',
after_state_change='look_back',
initial='A')
walker.watch = lambda: 'walk'
walker.look_back = lambda: 'look_back'
walker.check = lambda: 'check'
walker.clear = lambda: 'clear'
with self.assertRaises(MachineError):
walker.increase()
self.assertEqual(walker.state, 'A')
walker.forward()
walker.forward()
self.assertEqual(walker.state, 'C%s1' % State.separator)
walker.increase()
self.assertEqual(walker.state, 'C%s2' % State.separator)
walker.reset()
self.assertEqual(walker.state, 'C%s1' % State.separator)
walker.to_A()
self.assertEqual(walker.state, 'A')
walker.calc()
self.assertEqual(walker.state, 'C')
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
from states import states
import time
import threading
from ulity import china_time, send_email
# # Set up logging; The basic log level will be DEBUG
# import logging
# logging.basicConfig(level=logging.DEBUG)
# # Set transitions' log level to INFO; DEBUG messages will be omitted
# logging.getLogger('transitions').setLevel(logging.INFO)
threadLock = threading.Lock()
threads = []
hpg = HPG()
machine = Machine(hpg, states=states, initial='initial')
####
machine.add_transition('connect_chrome',
'initial',
'connectedChrome',
conditions='connectChrome')
#####
machine.add_transition('CheckLogin', '*', 'loginHPG', conditions='check_login')
machine.add_transition('QuereTask',
'*',
'quereedTask',
conditions='queue_task')
machine.add_transition('ReceiveTask',
def create_statemachine(self, state_machine_model):
NestedState.separator = ':'
states = [{
'name':
'base',
'children': [
'inactive', 'preparing', 'committing', 'committed', 'complete',
'fail'
]
}, 'removed']
transitions = [['create', 'base', 'base:inactive'],
['activated', 'base:inactive', 'base:preparing'],
['failure', 'base:inactive', 'base:fail'],
['quorum', 'base:preparing', 'base:committing'],
['all_commit', 'base:committing', 'base:committed'],
['no_commit', 'base:committing', 'base:preparing'],
['success', 'base:committed', 'base:complete'],
['failure', 'base:committed', 'base:fail'],
['default', 'base:complete', 'removed'],
['default', 'base:fail', 'removed'],
['default', 'base:inactive', 'base:inactive'],
['default', 'base:committed', 'base:committed']]
statemachine = Machine(model=state_machine_model,
states=states,
transitions=transitions,
initial='base',
ignore_invalid_triggers=True)
statemachine.on_enter('base:inactive', 'INACTIVE')
statemachine.on_enter('base:committing', 'COMMITTING')
statemachine.on_enter('base:committed', 'COMMITTED')
statemachine.on_enter('base:complete', 'COMPLETE')
statemachine.on_enter('base:fail', 'FAIL')
return statemachine
]
transitions = [
['slowdown', 'green', 'yellow'],
['stop', 'yellow', 'red'],
['go', 'red', 'green'],
['throw_rock', '*', 'broken'],
['evening', 'broken', 'broken_buzzing'],
['day', ['broken_sparking', 'broken_buzzing'], 'broken'],
# Since you have to specify a transition, and a specific
# state to pop to, this is not a push/pop
# at all, simply nested states.
['pop_broken', 'broken', 'green']
]
machine = Machine(t, states=states, transitions=transitions, initial='green')
# Transitioning from multiple states via the same trigger - pity can't specify this in the transitions structure
machine.add_transition('powersurge', 'broken', 'broken_buzzing')
machine.add_transition('powersurge', 'broken_buzzing', 'broken_sparking')
print(t.state)
assert t.state == 'green'
print(machine.get_state(t.state))
t.slowdown()
t.stop()
print(t.state)
assert t.state == 'red'
# same test as in state-demo2-stack
def test_blueprint_reuse(self):
states = ['1', '2', '3']
transitions = [
{'trigger': 'increase', 'source': '1', 'dest': '2'},
{'trigger': 'increase', 'source': '2', 'dest': '3'},
{'trigger': 'decrease', 'source': '3', 'dest': '2'},
{'trigger': 'decrease', 'source': '1', 'dest': '1'},
{'trigger': 'reset', 'source': '*', 'dest': '1'},
]
counter = Machine(states=states, transitions=transitions, before_state_change='check',
after_state_change='clear', initial='1')
new_states = ['A', 'B', {'name':'C', 'children': counter}]
new_transitions = [
{'trigger': 'forward', 'source': 'A', 'dest': 'B'},
{'trigger': 'forward', 'source': 'B', 'dest': 'C'},
{'trigger': 'backward', 'source': 'C', 'dest': 'B'},
{'trigger': 'backward', 'source': 'B', 'dest': 'A'},
{'trigger': 'calc', 'source': '*', 'dest': 'C'},
]
walker = Machine(states=new_states, transitions=new_transitions, before_state_change='watch',
after_state_change='look_back', initial='A')
walker.watch = lambda: 'walk'
walker.look_back = lambda: 'look_back'
walker.check = lambda: 'check'
walker.clear = lambda: 'clear'
with self.assertRaises(MachineError):
walker.increase()
self.assertEqual(walker.state, 'A')
walker.forward()
walker.forward()
self.assertEqual(walker.state, 'C_1')
walker.increase()
self.assertEqual(walker.state, 'C_2')
walker.reset()
self.assertEqual(walker.state, 'C_1')
walker.to_A()
self.assertEqual(walker.state, 'A')
walker.calc()
self.assertEqual(walker.state, 'C_1')
def __init__(self):
rospy.wait_for_service('/performances/reload_properties')
# States for wholeshow
states = [{
'name': 'sleeping',
'children': ['shutting']
}, {
'name': 'interacting',
'children': ['nonverbal']
}, 'performing', 'opencog', 'analysis']
HierarchicalMachine.__init__(self,
states=states,
initial='interacting')
# Transitions
self.add_transition('wake_up', 'sleeping', 'interacting')
# Transitions
self.add_transition('perform', 'interacting', 'performing')
self.add_transition('interact', 'performing', 'interacting')
self.add_transition('start_opencog', 'interacting', 'opencog')
self.add_transition('shut', 'sleeping', 'sleeping_shutting')
self.add_transition('be_quiet', 'interacting', 'interacting_nonverbal')
self.add_transition('start_talking', 'interacting_nonverbal',
'interacting')
# States handling
self.on_enter_sleeping("start_sleeping")
self.on_exit_sleeping("stop_sleeping")
self.on_enter_interacting("start_interacting")
self.on_exit_interacting("stop_interacting")
self.on_enter_sleeping_shutting("system_shutdown")
# ROS Handling
rospy.init_node('WholeShow')
self.btree_pub = rospy.Publisher("/behavior_switch",
String,
queue_size=5)
self.btree_sub = rospy.Subscriber("/behavior_switch", String,
self.btree_cb)
self.soma_pub = rospy.Publisher('/blender_api/set_soma_state',
SomaState,
queue_size=10)
self.look_pub = rospy.Publisher('/blender_api/set_face_target',
Target,
queue_size=10)
self.gaze_pub = rospy.Publisher('/blender_api/set_gaze_target',
Target,
queue_size=10)
self.performance_runner = rospy.ServiceProxy(
'/performances/run_full_performance', srv.RunByName)
# Wholeshow starts with behavior enabled, unless set otherwise
rospy.set_param("/behavior_enabled",
rospy.get_param("/behavior_enabled", True))
# Start sleeping. Wait for Blender to load
rospy.wait_for_service('/blender_api/set_param')
rospy.wait_for_service('/performances/current')
self.blender_param = rospy.ServiceProxy('/blender_api/set_param',
SetParam)
time.sleep(2)
self.sleeping = rospy.get_param('start_sleeping', False)
if self.sleeping:
t = threading.Timer(1, self.to_sleeping)
t.start()
# Performance id as key and keyword array as value
self.performances_keywords = {}
# Parse on load.
# TODO make sure we reload those once performances are saved.
self.after_performance = False
# Speech handler. Receives all speech input, and forwards to chatbot if its not a command input,
# or chat is enabled
self.speech_sub = rospy.Subscriber('speech', ChatMessage,
self.speech_cb)
self.speech_pub = rospy.Publisher('chatbot_speech',
ChatMessage,
queue_size=10)
# Sleep
self.performance_events = rospy.Subscriber('/performances/events',
Event, self.performances_cb)
# Dynamic reconfigure
self.config = {}
self.cfg_srv = Server(WholeshowConfig, self.config_cb)
# Behavior was paused entering into state
self.behavior_paused = False
# Chatbot was paused entering the state
self.chatbot_paused = False
self.sleeping = rospy.get_param('start_sleeping', False)
# Preferred speech source
self.speech_provider = rospy.get_param("active_stt", 'cloudspeech')
self.speech_provider_active = False
rospy.Subscriber('{}/status'.format(self.speech_provider), Bool,
self.stt_status_cb)
def __init__(self, name):
annotator.__init__(self, name)
self.machine = Machine(model=self, states=SimpleFSA._states, initial='waiting')
self.machine.add_transition(trigger='start_analysis', source='waiting', dest='analysing', after='_analyse')
self.machine.add_transition('corrected', 'analysing', 'finished')
def __init__(self, top):
self.top = top
self.states = ['n1', {'name': 'n2', 'on_enter': self.print_msg}]
Machine.__init__(self, states=self.states, initial='n1')
self.add_transition(trigger='goto_n2', source='*', dest='n2')
def test_blueprint_remap(self):
states = ['1', '2', '3', 'finished']
transitions = [{
'trigger': 'increase',
'source': '1',
'dest': '2'
}, {
'trigger': 'increase',
'source': '2',
'dest': '3'
}, {
'trigger': 'decrease',
'source': '3',
'dest': '2'
}, {
'trigger': 'decrease',
'source': '1',
'dest': '1'
}, {
'trigger': 'reset',
'source': '*',
'dest': '1'
}, {
'trigger': 'done',
'source': '3',
'dest': 'finished'
}]
counter = Machine(states=states, transitions=transitions, initial='1')
new_states = [
'A', 'B', {
'name':
'C',
'children': [
counter, {
'name': 'X',
'children': ['will', 'be', 'filtered', 'out']
}
],
'remap': {
'finished': 'A',
'X': 'A'
}
}
]
new_transitions = [
{
'trigger': 'forward',
'source': 'A',
'dest': 'B'
},
{
'trigger': 'forward',
'source': 'B',
'dest': 'C%s1' % State.separator
},
{
'trigger': 'backward',
'source': 'C',
'dest': 'B'
},
{
'trigger': 'backward',
'source': 'B',
'dest': 'A'
},
{
'trigger': 'calc',
'source': '*',
'dest': 'C%s1' % State.separator
},
]
walker = Machine(states=new_states,
transitions=new_transitions,
before_state_change='watch',
after_state_change='look_back',
initial='A')
walker.watch = lambda: 'walk'
walker.look_back = lambda: 'look_back'
counter.increase()
counter.increase()
counter.done()
self.assertEqual(counter.state, 'finished')
with self.assertRaises(MachineError):
walker.increase()
self.assertEqual(walker.state, 'A')
walker.forward()
walker.forward()
self.assertEqual(walker.state, 'C%s1' % State.separator)
walker.increase()
self.assertEqual(walker.state, 'C%s2' % State.separator)
walker.reset()
self.assertEqual(walker.state, 'C%s1' % State.separator)
walker.to_A()
self.assertEqual(walker.state, 'A')
walker.calc()
self.assertEqual(walker.state, 'C%s1' % State.separator)
walker.increase()
walker.increase()
walker.done()
self.assertEqual(walker.state, 'A')
self.assertFalse('C.finished' in walker.states)
class HFSA14(annotator):
_states = [
{'name': 'waiting', 'on_enter': '_reset_positions'},
{'name': 'searching_for_first_spondeus', 'children': ['secondF', 'firstF', 'fourthF']},
{'name': 'searching_for_second_spondeus', 'children': ['firstF', 'fourthF', 'thirdF']},
{'name': 'searching_for_third_spondeus', 'children': ['fourthF', 'thirdF', 'fifthF']},
{'name': 'no_spondeus_found', 'on_enter': '_make_spondeus'},
{'name': 'found_three_spondees', 'on_enter': '_make_scansion'},
{'name': 'fallback', 'on_enter': '_search_whole'},
{'name': 'correction', 'on_enter': '_correct'},
'success',
'failure'
]
def __init__ (self, name):
annotator.__init__(self, name)
self.machine = Machine(model=self, states=HFSA14._states, initial='waiting')
self.machine.add_transition('start_analysis', 'waiting', 'searching_for_first_spondeus_secondF', after='_search_second')
self.machine.add_transition('search_spondeus', 'searching_for_first_spondeus_secondF', 'searching_for_first_spondeus_firstF', unless=[self._found_first], after='_search_first')
self.machine.add_transition('search_spondeus', 'searching_for_first_spondeus_firstF', 'searching_for_first_spondeus_fourthF', unless=[self._found_first], after='_search_fourth')
self.machine.add_transition('search_spondeus', 'searching_for_first_spondeus_fourthF', 'no_spondeus_found', unless=[self._found_first])
self.machine.add_transition('search_spondeus', 'searching_for_first_spondeus_secondF', 'searching_for_second_spondeus_firstF', conditions=[self._found_first], after='_search_first')
self.machine.add_transition('search_spondeus', 'searching_for_second_spondeus_firstF', 'searching_for_second_spondeus_fourthF', unless=[self._found_second], after='_search_fourth')
self.machine.add_transition('search_spondeus', 'searching_for_second_spondeus_fourthF', 'searching_for_second_spondeus_thirdF', unless=[self._found_second], after='_search_third')
self.machine.add_transition('search_spondeus', 'searching_for_second_spondeus_thirdF', 'no_spondeus_found', unless=[self._found_second])
self.machine.add_transition('search_spondeus', 'searching_for_first_spondeus_secondF', 'searching_for_second_spondeus_firstF', conditions=[self._found_first], after='_search_first')
self.machine.add_transition('search_spondeus', 'searching_for_first_spondeus_firstF', 'searching_for_second_spondeus_fourthF', conditions=[self._found_first], after='_search_fourth')
self.machine.add_transition('search_spondeus', 'searching_for_first_spondeus_fourthF', 'searching_for_second_spondeus_thirdF', conditions=[self._found_first], after='_search_third')
self.machine.add_transition('search_spondeus', 'searching_for_second_spondeus_thirdF', 'searching_for_third_spondeus_fifthF', conditions=[self._found_second], after='_search_fifth')
self.machine.add_transition('search_spondeus', 'searching_for_third_spondeus_fifthF', 'no_spondeus_found', unless=[self._found_third])
self.machine.add_transition('search_spondeus', 'searching_for_second_spondeus_firstF', 'searching_for_third_spondeus_fourthF', conditions=[self._found_second], after='_search_fourth')
self.machine.add_transition('search_spondeus', 'searching_for_third_spondeus_fourthF', 'searching_for_third_spondeus_thirdF', unless=[self._found_third], after='_search_third')
self.machine.add_transition('search_spondeus', 'searching_for_third_spondeus_thirdF', 'searching_for_third_spondeus_fifthF', unless=[self._found_third], after='_search_fifth')
self.machine.add_transition('search_spondeus', 'searching_for_second_spondeus_fourthF', 'searching_for_third_spondeus_thirdF', conditions=[self._found_second], after='_search_third')
self.machine.add_transition('search_spondeus', 'searching_for_third_spondeus_fifthF', 'found_three_spondees', conditions=[self._found_third])
self.machine.add_transition('search_spondeus', 'searching_for_third_spondeus_fourthF', 'found_three_spondees', conditions=[self._found_third])
self.machine.add_transition('search_spondeus', 'searching_for_third_spondeus_thirdF', 'found_three_spondees', conditions=[self._found_third])
self.machine.add_transition('search_spondeus', 'found_three_spondees', 'no_spondeus_found')
self.machine.add_transition('not_found', 'no_spondeus_found', 'fallback')
self.machine.add_transition('verified', 'fallback', 'correction', unless=[self._is_successful])
self.machine.add_transition('verified', 'fallback', 'success', conditions=[self._is_successful])
self.machine.add_transition('verified', 'found_three_spondees', 'success', conditions=[self._is_successful])
self.machine.add_transition('verified', 'found_three_spondees', 'correction', unless=[self._is_successful])
self.machine.add_transition('corrected', 'correction', 'success', conditions=[self._is_successful])
self.machine.add_transition('corrected', 'correction', 'failure', unless=[self._is_successful])
def _search_second(self):
third = self._search_long(3)
fourth = self._search_long(4)
fifth = self._search_long(5)
if third and fourth:
self.positions.append(3)
self.positions.append(4)
self._set_found()
elif fourth and fifth:
self.positions.append(4)
self.positions.append(5)
self._set_found()
else:
if third:
self.positions.append(3)
if fourth:
self.positions.append(4)
if fifth:
self.positions.append(5)
self.search_spondeus()
def _search_first(self):
first = self._search_long(1)
second = self._search_long(2)
if first and second:
self.positions.append(1)
self.positions.append(2)
self._set_found()
elif first:
self.positions.append(1)
elif second:
self.positions.append(2)
self.search_spondeus()
def _search_fourth(self):
eigth = self._search_long(8)
ninth = self._search_long(9)
tenth = self._search_long(10)
if eigth and ninth:
self.positions.append(8)
self.positions.append(9)
self._set_found()
elif ninth and tenth:
self.positions.append(9)
self.positions.append(10)
self._set_found()
else:
if eigth:
self.positions.append(8)
if ninth:
self.positions.append(9)
if tenth:
self.positions.append(10)
self.search_spondeus()
def _search_third(self):
sixth = self._search_long(6)
seventh = self._search_long(7)
eigth = self._search_long(8)
if seventh and eigth:
self.positions.append(7)
self.positions.append(8)
self._set_found()
elif sixth and seventh:
self.positions.append(6)
self.positions.append(7)
self._set_found()
else:
if sixth:
self.positions.append(6)
if seventh:
self.positions.append(7)
if eigth:
self.positions.append(8)
self.search_spondeus()
def _search_fifth(self):
eleventh = self._search_long(11)
twelfth = self._search_long(12)
if eleventh and twelfth:
self.positions.append(11)
self.positions.append(12)
self._set_found()
elif eleventh:
self.positions.append(11)
elif twelfth:
self.positions.append(12)
self.search_spondeus()
def _make_scansion(self):
for x in range(1,13):
if x not in self.positions:
self.questions.append(x)
#nr. 30
if 8 in self.questions and 9 in self.questions and 11 in self.questions and 12 in self.questions:
self.verse.scansion = '-- -- -- -** -** -X'
self._verify_output()
#nr. 31
elif 6 in self.questions and 7 in self.questions and 11 in self.questions and 12 in self.questions:
self.verse.scansion = '-- -- -** -- -** -X'
self._verify_output()
#nr. 32
elif 6 in self.questions and 7 in self.questions and 9 in self.questions and 10 in self.questions:
self.verse.scansion = '-- -- -** -** -- -X'
self._verify_output()
#nr. 33
elif 2 in self.questions and 3 in self.questions and 11 in self.questions and 12 in self.questions:
self.verse.scansion = '-** -- -- -- -** -X'
self._verify_output()
#nr. 34
elif 2 in self.questions and 3 in self.questions and 9 in self.questions and 10 in self.questions:
self.verse.scansion = '-** -- -- -** -- -X'
self._verify_output()
#nr. 35
elif 2 in self.questions and 3 in self.questions and 7 in self.questions and 8 in self.questions:
self.verse.scansion = '-** -- -** -- -- -X'
self._verify_output()
#nr. 36
elif 2 in self.questions and 3 in self.questions and 5 in self.questions and 6 in self.questions:
self.verse.scansion = '-** -** -- -- -- -X'
self._verify_output()
#nr. 37
elif 4 in self.questions and 5 in self.questions and 11 in self.questions and 12 in self.questions:
self.verse.scansion = '-- -** -- -- -** -X'
self._verify_output()
#nr. 38
elif 4 in self.questions and 5 in self.questions and 9 in self.questions and 10 in self.questions:
self.verse.scansion = '-- -** -- -** -- -X'
self._verify_output()
#nr. 39
elif 4 in self.questions and 5 in self.questions and 7 in self.questions and 8 in self.questions:
self.verse.scansion = '-- -** -** -- -- -X'
self._verify_output()
else:
self.search_spondeus()
def _make_spondeus(self):
annotator._make_spondeus(self, 12)
['walk', 'caffeinated_dithering', 'caffeinated_running'],
['relax', 'caffeinated', 'standing']
]
# states = ['standing', 'walking',
# {'name': 'caffeinated', 'children':['dithering', 'running']}]
# transitions = [
# ['walk', 'standing', 'walking'],
# ['stop', 'walking', 'standing'],
# ['drink', '*', 'caffeinated'],
# ['walk', ['caffeinated', 'caffeinated_dithering'], 'caffeinated_running'],
# ['relax', 'caffeinated', 'standing']
# ]
machine = Machine(states=states,
transitions=transitions,
initial='standing',
ignore_invalid_triggers=True)
machine.walk() # Walking now
machine.stop() # let's stop for a moment
machine.drink() # coffee time
print(machine.state)
machine.walk() # we have to go faster
print(machine.state)
machine.stop() # can't stop moving!
print(machine.state)
machine.relax() # leave nested state
print(machine.state) # phew, what a ride
def test_blueprint_remap(self):
states = ['1', '2', '3', 'finished']
transitions = [
{'trigger': 'increase', 'source': '1', 'dest': '2'},
{'trigger': 'increase', 'source': '2', 'dest': '3'},
{'trigger': 'decrease', 'source': '3', 'dest': '2'},
{'trigger': 'decrease', 'source': '1', 'dest': '1'},
{'trigger': 'reset', 'source': '*', 'dest': '1'},
{'trigger': 'done', 'source': '3', 'dest': 'finished'}
]
counter = Machine(states=states, transitions=transitions, initial='1')
new_states = ['A', 'B', {'name': 'C', 'children':
[counter, {'name': 'X', 'children': ['will', 'be', 'filtered', 'out']}],
'remap': {'finished': 'A', 'X': 'A'}}]
new_transitions = [
{'trigger': 'forward', 'source': 'A', 'dest': 'B'},
{'trigger': 'forward', 'source': 'B', 'dest': 'C%s1' % State.separator},
{'trigger': 'backward', 'source': 'C', 'dest': 'B'},
{'trigger': 'backward', 'source': 'B', 'dest': 'A'},
{'trigger': 'calc', 'source': '*', 'dest': 'C%s1' % State.separator},
]
walker = Machine(states=new_states, transitions=new_transitions, before_state_change='watch',
after_state_change='look_back', initial='A')
walker.watch = lambda: 'walk'
walker.look_back = lambda: 'look_back'
counter.increase()
counter.increase()
counter.done()
self.assertEqual(counter.state, 'finished')
with self.assertRaises(MachineError):
walker.increase()
self.assertEqual(walker.state, 'A')
walker.forward()
walker.forward()
self.assertEqual(walker.state, 'C%s1' % State.separator)
walker.increase()
self.assertEqual(walker.state, 'C%s2' % State.separator)
walker.reset()
self.assertEqual(walker.state, 'C%s1' % State.separator)
walker.to_A()
self.assertEqual(walker.state, 'A')
walker.calc()
self.assertEqual(walker.state, 'C%s1' % State.separator)
walker.increase()
walker.increase()
walker.done()
self.assertEqual(walker.state, 'A')
self.assertFalse('C.finished' in walker.states)
