def create(self):
# x:472 y:615, x:38 y:355
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.part_type = part_type
_state_machine.userdata.agv_id = agv_id
_state_machine.userdata.pose_on_agv = pose_on_agv
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:427 y:22
OperatableStateMachine.add('standby',
WaitState(wait_time=3),
transitions={'done': 'Get_order'},
autonomy={'done': Autonomy.Off})
# x:399 y:103
OperatableStateMachine.add('Get_order',
GetOrderState(),
transitions={'continue': 'transport_part_form_bin_to_agv_state'},
autonomy={'continue': Autonomy.Off},
remapping={'order_id': 'order_id', 'shipments': 'shipments', 'number_of_shipments': 'number_of_shipments'})
# x:368 y:302
OperatableStateMachine.add('transport_part_form_bin_to_agv_state',
self.use_behavior(transport_part_form_bin_to_agv_stateSM, 'transport_part_form_bin_to_agv_state'),
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'part_type': 'part_type', 'agv_id': 'agv_id', 'pose_on_agv': 'pose_on_agv'})
return _state_machine
def create(self):
# x:867 y:12, x:483 y:355
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.order_id = ''
_state_machine.userdata.shipments = []
_state_machine.userdata.number_of_shipments = 0
_state_machine.userdata.shipment_type = ''
_state_machine.userdata.shipment_index = 0
_state_machine.userdata.agv_id = ''
_state_machine.userdata.number_of_products = 0
_state_machine.userdata.products = []
_state_machine.userdata.product_index = 0
_state_machine.userdata.part_type = ''
_state_machine.userdata.part_pose = []
_state_machine.userdata.increment = 1
_state_machine.userdata.Null = 0
_state_machine.userdata.pose_on_agv = []
_state_machine.userdata.old_order_id = ''
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:49 y:117
OperatableStateMachine.add('startassignment',
StartAssignment(),
transitions={'continue': 'get_order'},
autonomy={'continue': Autonomy.Off})
# x:207 y:119
OperatableStateMachine.add('get_order',
GetOrderState(),
transitions={'continue': 'TestLastOrder'},
autonomy={'continue': Autonomy.Off},
remapping={'order_id': 'order_id', 'shipments': 'shipments', 'number_of_shipments': 'number_of_shipments'})
# x:410 y:121
OperatableStateMachine.add('getProductsfromshipment',
GetProductsFromShipmentState(),
transitions={'continue': 'ShipmentID', 'invalid_index': 'failed'},
autonomy={'continue': Autonomy.Off, 'invalid_index': Autonomy.Off},
remapping={'shipments': 'shipments', 'index': 'shipment_index', 'shipment_type': 'shipment_type', 'agv_id': 'agv_id', 'products': 'products', 'number_of_products': 'number_of_products'})
# x:848 y:122
OperatableStateMachine.add('transport_part_form_bin_to_agv_state',
self.use_behavior(transport_part_form_bin_to_agv_stateSM, 'transport_part_form_bin_to_agv_state'),
transitions={'finished': 'IncreaseProductIndex', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'part_type': 'part_type', 'agv_id': 'agv_id', 'part_pose': 'part_pose', 'pose': 'pose'})
# x:649 y:120
OperatableStateMachine.add('GetPartinfo',
GetPartFromProductsState(),
transitions={'continue': 'transport_part_form_bin_to_agv_state', 'invalid_index': 'failed'},
autonomy={'continue': Autonomy.Off, 'invalid_index': Autonomy.Off},
remapping={'products': 'products', 'index': 'product_index', 'type': 'part_type', 'pose': 'part_pose'})
# x:928 y:241
OperatableStateMachine.add('IncreaseProductIndex',
AddNumericState(),
transitions={'done': 'CheckProduct_index'},
autonomy={'done': Autonomy.Off},
remapping={'value_a': 'product_index', 'value_b': 'increment', 'result': 'product_index'})
# x:934 y:323
OperatableStateMachine.add('CheckProduct_index',
EqualState(),
transitions={'true': 'SETnull', 'false': 'GetPartinfo'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'value_a': 'product_index', 'value_b': 'number_of_products'})
# x:770 y:514
OperatableStateMachine.add('IncreaseShipmentIndex',
AddNumericState(),
transitions={'done': 'Checkshipmentindex'},
autonomy={'done': Autonomy.Off},
remapping={'value_a': 'shipment_index', 'value_b': 'increment', 'result': 'shipment_index'})
# x:396 y:499
OperatableStateMachine.add('Checkshipmentindex',
EqualState(),
transitions={'true': 'get_order', 'false': 'notify_shipment_ready'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'value_a': 'number_of_shipments', 'value_b': 'shipment_index'})
# x:990 y:530
OperatableStateMachine.add('SETnull',
ReplaceState(),
transitions={'done': 'IncreaseShipmentIndex'},
autonomy={'done': Autonomy.Off},
remapping={'value': 'Null', 'result': 'product_index'})
# x:721 y:355
OperatableStateMachine.add('notify_shipment_ready',
self.use_behavior(notify_shipment_readySM, 'notify_shipment_ready'),
transitions={'finished': 'getProductsfromshipment', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:388 y:13
OperatableStateMachine.add('TestLastOrder',
EqualState(),
transitions={'true': 'finished', 'false': 'RememberOldOrder'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'value_a': 'order_id', 'value_b': 'old_order_id'})
# x:632 y:44
OperatableStateMachine.add('RememberOldOrder',
ReplaceState(),
transitions={'done': 'getProductsfromshipment'},
autonomy={'done': Autonomy.Off},
remapping={'value': 'order_id', 'result': 'old_order_id'})
# x:40 y:265
OperatableStateMachine.add('ShipmentID',
MessageState(),
transitions={'continue': 'GetPartinfo'},
autonomy={'continue': Autonomy.Off},
remapping={'message': 'shipment_type'})
return _state_machine
def create(self):
# x:642 y:425, x:506 y:337
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'],
output_keys=['part_type', 'agv_id', 'pose_on_agv'])
_state_machine.userdata.order_id = ' '
_state_machine.userdata.shipments = []
_state_machine.userdata.number_of_shipments = 0
_state_machine.userdata.shipment_index = 0
_state_machine.userdata.shipment_type = ''
_state_machine.userdata.agv_id = ''
_state_machine.userdata.products = []
_state_machine.userdata.number_of_products = 0
_state_machine.userdata.product_index = 0
_state_machine.userdata.part_type = ''
_state_machine.userdata.one_value = 1
_state_machine.userdata.zero_value = 0
_state_machine.userdata.pose_on_agv = []
_state_machine.userdata.camera_ref_frame = ''
_state_machine.userdata.camera_frame = ''
_state_machine.userdata.tool_link = 'ee_link'
_state_machine.userdata.camera_topic = ''
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:59 y:52
OperatableStateMachine.add('StartAssignment',
StartAssignment(),
transitions={'continue': 'GetOrder'},
autonomy={'continue': Autonomy.Off})
# x:225 y:52
OperatableStateMachine.add(
'GetOrder',
GetOrderState(),
transitions={'continue': 'GetProductsFromShipment'},
autonomy={'continue': Autonomy.Off},
remapping={
'order_id': 'order_id',
'shipments': 'shipments',
'number_of_shipments': 'number_of_shipments'
})
# x:442 y:53
OperatableStateMachine.add('GetProductsFromShipment',
GetProductsFromShipmentState(),
transitions={
'continue': 'GetPartFromProduct',
'invalid_index': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'invalid_index': Autonomy.Off
},
remapping={
'shipments':
'shipments',
'index':
'shipment_index',
'shipment_type':
'shipment_type',
'agv_id':
'agv_id',
'products':
'products',
'number_of_products':
'number_of_products'
})
# x:675 y:55
OperatableStateMachine.add(
'GetPartFromProduct',
GetPartFromProductsState(),
transitions={
'continue': 'transport_part_form_bin_to_agv_state',
'invalid_index': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'invalid_index': Autonomy.Off
},
remapping={
'products': 'products',
'index': 'product_index',
'type': 'part_type',
'pose': 'pose_on_agv'
})
# x:958 y:176
OperatableStateMachine.add(
'IncrementProductIndex',
AddNumericState(),
transitions={'done': 'EindeProductenLijst'},
autonomy={'done': Autonomy.Off},
remapping={
'value_a': 'product_index',
'value_b': 'one_value',
'result': 'product_index'
})
# x:963 y:273
OperatableStateMachine.add('EindeProductenLijst',
EqualState(),
transitions={
'true': 'IncrementShipmentIndex',
'false': 'GetPartFromProduct'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'value_a': 'product_index',
'value_b': 'number_of_products'
})
# x:964 y:363
OperatableStateMachine.add('IncrementShipmentIndex',
AddNumericState(),
transitions={'done': 'EindeShipment'},
autonomy={'done': Autonomy.Off},
remapping={
'value_a': 'shipment_index',
'value_b': 'one_value',
'result': 'shipment_index'
})
# x:967 y:449
OperatableStateMachine.add('EindeShipment',
EqualState(),
transitions={
'true': 'GetOrder',
'false': 'GetProductsFromShipment'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'value_a': 'shipment_index',
'value_b': 'number_of_shipments'
})
# x:917 y:45
OperatableStateMachine.add(
'transport_part_form_bin_to_agv_state',
self.use_behavior(transport_part_form_bin_to_agv_stateSM,
'transport_part_form_bin_to_agv_state'),
transitions={
'finished': 'IncrementProductIndex',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'part_type': 'part_type',
'agv_id': 'agv_id',
'pose_on_agv': 'pose_on_agv',
'camera_ref_frame': 'camera_ref_frame',
'camera_frame': 'camera_frame',
'camera_topic': 'camera_topic'
})
return _state_machine
def create(self):
# x:509 y:35, x:204 y:373
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.shipments = []
_state_machine.userdata.number_of_shipments = 0
_state_machine.userdata.agv_id = ''
_state_machine.userdata.number_of_products = 0
_state_machine.userdata.shipment_type = ''
_state_machine.userdata.products = []
_state_machine.userdata.number_of_products = 0
_state_machine.userdata.shipment_index = 0
_state_machine.userdata.product_index = 0
_state_machine.userdata.part_type = ''
_state_machine.userdata.one_value = 1
_state_machine.userdata.zero_value = 0
_state_machine.userdata.order_id = ''
_state_machine.userdata.part_pose = []
_state_machine.userdata.old_order_id = ''
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:65 y:95
OperatableStateMachine.add('start',
StartAssignment(),
transitions={'continue': 'getorder'},
autonomy={'continue': Autonomy.Off})
# x:243 y:92
OperatableStateMachine.add(
'getorder',
GetOrderState(),
transitions={'continue': 'compare_last_order'},
autonomy={'continue': Autonomy.Off},
remapping={
'order_id': 'order_id',
'shipments': 'shipments',
'number_of_shipments': 'number_of_shipments'
})
# x:465 y:94
OperatableStateMachine.add('get_products_from_shipments',
GetProductsFromShipmentState(),
transitions={
'continue':
'get_part_from_products',
'invalid_index': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'invalid_index': Autonomy.Off
},
remapping={
'shipments':
'shipments',
'index':
'shipment_index',
'shipment_type':
'shipment_type',
'agv_id':
'agv_id',
'products':
'products',
'number_of_products':
'number_of_products'
})
# x:689 y:90
OperatableStateMachine.add(
'get_part_from_products',
GetPartFromProductsState(),
transitions={
'continue': 'transport_part_form_bin_to_agv_state',
'invalid_index': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'invalid_index': Autonomy.Off
},
remapping={
'products': 'products',
'index': 'product_index',
'type': 'part_type',
'pose': 'part_pose'
})
# x:986 y:193
OperatableStateMachine.add('increment_product_index',
AddNumericState(),
transitions={'done': 'einde_products'},
autonomy={'done': Autonomy.Off},
remapping={
'value_a': 'product_index',
'value_b': 'one_value',
'result': 'product_index'
})
# x:978 y:283
OperatableStateMachine.add('einde_products',
EqualState(),
transitions={
'true': 'reset_product index',
'false': 'get_part_from_products'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'value_a': 'product_index',
'value_b': 'number_of_products'
})
# x:972 y:480
OperatableStateMachine.add('increment_shipment_index',
AddNumericState(),
transitions={'done': 'einde_shipments'},
autonomy={'done': Autonomy.Off},
remapping={
'value_a': 'shipment_index',
'value_b': 'one_value',
'result': 'shipment_index'
})
# x:971 y:579
OperatableStateMachine.add('einde_shipments',
EqualState(),
transitions={
'true': 'notify_shipment_ready',
'false':
'get_products_from_shipments'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'value_a': 'shipment_index',
'value_b': 'number_of_shipments'
})
# x:978 y:384
OperatableStateMachine.add(
'reset_product index',
ReplaceState(),
transitions={'done': 'increment_shipment_index'},
autonomy={'done': Autonomy.Off},
remapping={
'value': 'zero_value',
'result': 'product_index'
})
# x:572 y:362
OperatableStateMachine.add('notify_shipment_ready',
self.use_behavior(
notify_shipment_readySM,
'notify_shipment_ready'),
transitions={
'finished':
'get_products_from_shipments',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:959 y:86
OperatableStateMachine.add(
'transport_part_form_bin_to_agv_state',
self.use_behavior(transport_part_form_bin_to_agv_stateSM,
'transport_part_form_bin_to_agv_state'),
transitions={
'finished': 'increment_product_index',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'part_type': 'part_type',
'agv_id': 'agv_id',
'pose_on_agv': 'part_pose'
})
# x:266 y:2
OperatableStateMachine.add('compare_last_order',
EqualState(),
transitions={
'true': 'finished',
'false': 'rememberoldorder'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'value_a': 'order_id',
'value_b': 'old_order_id'
})
# x:584 y:4
OperatableStateMachine.add(
'rememberoldorder',
ReplaceState(),
transitions={'done': 'get_products_from_shipments'},
autonomy={'done': Autonomy.Off},
remapping={
'value': 'order_id',
'result': 'old_order_id'
})
return _state_machine
def create(self):
# x:650 y:25, x:929 y:416
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.agv_id = ''
_state_machine.userdata.part_type = ''
_state_machine.userdata.products = []
_state_machine.userdata.product_index = 0
_state_machine.userdata.shipment_index = 0
_state_machine.userdata.material_locations = []
_state_machine.userdata.bin_index = 0
_state_machine.userdata.order_id = ''
_state_machine.userdata.shipments = []
_state_machine.userdata.number_of_shipments = 0
_state_machine.userdata.shipment_type = ''
_state_machine.userdata.number_of_products = 0
_state_machine.userdata.bin_id = ''
_state_machine.userdata.old_order_id = ''
_state_machine.userdata.one_value = 1
_state_machine.userdata.zero_value = 0
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:45 y:112
OperatableStateMachine.add('StartAssignment',
StartAssignment(),
transitions={'continue': 'GetOrder'},
autonomy={'continue': Autonomy.Off})
# x:211 y:112
OperatableStateMachine.add('GetOrder',
GetOrderState(),
transitions={'continue': 'ConveyorOff'},
autonomy={'continue': Autonomy.Off},
remapping={
'order_id':
'order_id',
'shipments':
'shipments',
'number_of_shipments':
'number_of_shipments'
})
# x:424 y:113
OperatableStateMachine.add('TestLastOrder',
EqualState(),
transitions={
'true': 'EndAssignment',
'false': 'RememberOldOrder'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'value_a': 'order_id',
'value_b': 'old_order_id'
})
# x:650 y:114
OperatableStateMachine.add('RememberOldOrder',
ReplaceState(),
transitions={'done': 'GetShipment'},
autonomy={'done': Autonomy.Off},
remapping={
'value': 'order_id',
'result': 'old_order_id'
})
# x:869 y:114
OperatableStateMachine.add('GetShipment',
GetProductsFromShipmentState(),
transitions={
'continue': 'GetPart',
'invalid_index': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'invalid_index': Autonomy.Off
},
remapping={
'shipments':
'shipments',
'index':
'shipment_index',
'shipment_type':
'shipment_type',
'agv_id':
'agv_id',
'products':
'products',
'number_of_products':
'number_of_products'
})
# x:1122 y:115
OperatableStateMachine.add('GetPart',
GetPartFromProductsState(),
transitions={
'continue': 'MaterialLocation',
'invalid_index': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'invalid_index': Autonomy.Off
},
remapping={
'products': 'products',
'index': 'product_index',
'type': 'part_type',
'pose': 'part_pose'
})
# x:1361 y:113
OperatableStateMachine.add('MaterialLocation',
GetMaterialLocationsState(),
transitions={'continue': 'GetBin'},
autonomy={'continue': Autonomy.Off},
remapping={
'part':
'part_type',
'material_locations':
'material_locations'
})
# x:1361 y:235
OperatableStateMachine.add('GetBin',
GetItemFromListState(),
transitions={
'done': 'AGV_id',
'invalid_index': 'failed'
},
autonomy={
'done': Autonomy.Off,
'invalid_index': Autonomy.Off
},
remapping={
'list': 'material_locations',
'index': 'bin_index',
'item': 'bin_id'
})
# x:759 y:683
OperatableStateMachine.add('IncrementShipmentIndex',
AddNumericState(),
transitions={'done': 'EndShipment'},
autonomy={'done': Autonomy.Off},
remapping={
'value_a': 'shipment_index',
'value_b': 'one_value',
'result': 'shipment_index'
})
# x:536 y:683
OperatableStateMachine.add('EndShipment',
EqualState(),
transitions={
'true': 'Notify_shipment_ready',
'false': 'GetShipment'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'value_a': 'shipment_index',
'value_b': 'number_of_shipments'
})
# x:446 y:6
OperatableStateMachine.add('EndAssignment',
EndAssignment(),
transitions={'continue': 'finished'},
autonomy={'continue': Autonomy.Off})
# x:206 y:680
OperatableStateMachine.add('Notify_shipment_ready',
self.use_behavior(
Notify_shipment_readySM,
'Notify_shipment_ready'),
transitions={
'finished': 'ResetShipmentIndex',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'shipment_type': 'shipment_type',
'agv_id': 'agv_id'
})
# x:1357 y:675
OperatableStateMachine.add(
'GripperChoice',
self.use_behavior(GripperChoiceSM, 'GripperChoice'),
transitions={
'finished': 'IncrementShipmentIndex',
'failed': 'failed',
'false': 'GetPart'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit,
'false': Autonomy.Inherit
},
remapping={
'number_of_products': 'number_of_products',
'product_index': 'product_index',
'bin_id': 'bin_id',
'part_type': 'part_type',
'part_pose': 'part_pose',
'agv_id': 'agv_id'
})
# x:194 y:377
OperatableStateMachine.add('ResetShipmentIndex',
ReplaceState(),
transitions={'done': 'GetOrder'},
autonomy={'done': Autonomy.Off},
remapping={
'value': 'zero_value',
'result': 'shipment_index'
})
# x:216 y:19
OperatableStateMachine.add('ConveyorOff',
SetConveyorbeltPowerState(),
transitions={
'continue': 'TestLastOrder',
'fail': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={'power': 'zero_value'})
# x:1384 y:446
OperatableStateMachine.add(
'AGV_id',
MessageState(),
transitions={'continue': 'GripperChoice'},
autonomy={'continue': Autonomy.Off},
remapping={'message': 'agv_id'})
return _state_machine
def create(self):
# x:821 y:56, x:1214 y:358
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.order_id = ''
_state_machine.userdata.shipments = []
_state_machine.userdata.number_of_shipments = 0
_state_machine.userdata.old_order_id = ''
_state_machine.userdata.shipment_index = 0
_state_machine.userdata.shipment_type = ''
_state_machine.userdata.agv_id = ''
_state_machine.userdata.products = []
_state_machine.userdata.number_of_products = 0
_state_machine.userdata.product_index = 0
_state_machine.userdata.part_type = ''
_state_machine.userdata.material_locations = []
_state_machine.userdata.bin_index = 0
_state_machine.userdata.bin_id = ''
_state_machine.userdata.one_value = 1
_state_machine.userdata.zero_value = 0
_state_machine.userdata.arm_right = 'right_arm'
_state_machine.userdata.arm_left = 'left_arm'
_state_machine.userdata.product_location1 = ''
_state_machine.userdata.product_location2 = ''
_state_machine.userdata.home_rightarm_id = 'Right_PreGrasp'
_state_machine.userdata.move_group_right = 'Right_Arm'
_state_machine.userdata.move_group_prefix = '/ariac/gantry'
_state_machine.userdata.action_topic = '/move_group'
_state_machine.userdata.robot_name = ''
_state_machine.userdata.home_leftarm_id = 'Left_PreGrasp'
_state_machine.userdata.move_group_left = 'Left_Arm'
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:57 y:48
OperatableStateMachine.add('StartAssignment',
StartAssignment(),
transitions={'continue': 'GetOrder'},
autonomy={'continue': Autonomy.Off})
# x:218 y:48
OperatableStateMachine.add('GetOrder',
GetOrderState(),
transitions={'continue': 'Test_LastOrder'},
autonomy={'continue': Autonomy.Off},
remapping={'order_id': 'order_id', 'shipments': 'shipments', 'number_of_shipments': 'number_of_shipments'})
# x:422 y:47
OperatableStateMachine.add('Test_LastOrder',
EqualState(),
transitions={'true': 'EndAssignment', 'false': 'Remember_OldOrder'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'value_a': 'order_id', 'value_b': 'old_order_id'})
# x:614 y:124
OperatableStateMachine.add('Remember_OldOrder',
ReplaceState(),
transitions={'done': 'GetShipment'},
autonomy={'done': Autonomy.Off},
remapping={'value': 'order_id', 'result': 'old_order_id'})
# x:622 y:47
OperatableStateMachine.add('EndAssignment',
EndAssignment(),
transitions={'continue': 'finished'},
autonomy={'continue': Autonomy.Off})
# x:801 y:119
OperatableStateMachine.add('GetShipment',
GetProductsFromShipmentState(),
transitions={'continue': 'GetPart', 'invalid_index': 'failed'},
autonomy={'continue': Autonomy.Off, 'invalid_index': Autonomy.Off},
remapping={'shipments': 'shipments', 'index': 'shipment_index', 'shipment_type': 'shipment_type', 'agv_id': 'agv_id', 'products': 'products', 'number_of_products': 'number_of_products'})
# x:1023 y:119
OperatableStateMachine.add('GetPart',
GetPartFromProductsState(),
transitions={'continue': 'MaterialLocation', 'invalid_index': 'failed'},
autonomy={'continue': Autonomy.Off, 'invalid_index': Autonomy.Off},
remapping={'products': 'products', 'index': 'product_index', 'type': 'part_type', 'pose': 'part_pose'})
# x:1217 y:116
OperatableStateMachine.add('MaterialLocation',
GetMaterialLocationsState(),
transitions={'continue': 'GetBin'},
autonomy={'continue': Autonomy.Off},
remapping={'part': 'part_type', 'material_locations': 'material_locations'})
# x:1403 y:114
OperatableStateMachine.add('GetBin',
GetItemFromListState(),
transitions={'done': 'CheckAttachedRight', 'invalid_index': 'failed'},
autonomy={'done': Autonomy.Off, 'invalid_index': Autonomy.Off},
remapping={'list': 'material_locations', 'index': 'bin_index', 'item': 'bin_id'})
# x:1361 y:507
OperatableStateMachine.add('IncrementProductIndex',
AddNumericState(),
transitions={'done': 'EndProduct'},
autonomy={'done': Autonomy.Off},
remapping={'value_a': 'product_index', 'value_b': 'one_value', 'result': 'product_index'})
# x:1360 y:585
OperatableStateMachine.add('EndProduct',
EqualState(),
transitions={'true': 'HomepositieRightArm', 'false': 'CheckAttachedRight2'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'value_a': 'product_index', 'value_b': 'number_of_products'})
# x:95 y:565
OperatableStateMachine.add('ResetProductIndex',
ReplaceState(),
transitions={'done': 'IncrementShipmentIndex'},
autonomy={'done': Autonomy.Off},
remapping={'value': 'zero_value', 'result': 'product_index'})
# x:98 y:469
OperatableStateMachine.add('IncrementShipmentIndex',
AddNumericState(),
transitions={'done': 'Notify_Shipment_Ready'},
autonomy={'done': Autonomy.Off},
remapping={'value_a': 'shipment_index', 'value_b': 'one_value', 'result': 'shipment_index'})
# x:89 y:277
OperatableStateMachine.add('EndShipment',
EqualState(),
transitions={'true': 'ResetShipmentIndex', 'false': 'GetShipment'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'value_a': 'shipment_index', 'value_b': 'number_of_shipments'})
# x:87 y:378
OperatableStateMachine.add('Notify_Shipment_Ready',
self.use_behavior(Notify_Shipment_ReadySM, 'Notify_Shipment_Ready'),
transitions={'finished': 'EndShipment', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'agv_id': 'agv_id', 'shipment_type': 'shipment_type'})
# x:1605 y:181
OperatableStateMachine.add('Transport_part_from_bin_to_agv',
self.use_behavior(Transport_part_from_bin_to_agvSM, 'Transport_part_from_bin_to_agv'),
transitions={'finished': 'SetVariablePart1', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'agv_id': 'agv_id', 'part_type': 'part_type', 'part_pose': 'part_pose', 'bin_id': 'bin_id'})
# x:95 y:183
OperatableStateMachine.add('ResetShipmentIndex',
ReplaceState(),
transitions={'done': 'GetOrder'},
autonomy={'done': Autonomy.Off},
remapping={'value': 'zero_value', 'result': 'shipment_index'})
# x:1354 y:248
OperatableStateMachine.add('CheckAttachedRight',
CheckGripperattached(),
transitions={'True': 'CheckAttachedLeft', 'False': 'Transport_part_from_bin_to_agv', 'invalid_arm_id': 'failed'},
autonomy={'True': Autonomy.Off, 'False': Autonomy.Off, 'invalid_arm_id': Autonomy.Off},
remapping={'arm_id': 'arm_right'})
# x:1356 y:335
OperatableStateMachine.add('CheckAttachedLeft',
CheckGripperattached(),
transitions={'True': 'IncrementProductIndex', 'False': 'Transport_part_from_bin_to_agv_LeftArm', 'invalid_arm_id': 'failed'},
autonomy={'True': Autonomy.Off, 'False': Autonomy.Off, 'invalid_arm_id': Autonomy.Off},
remapping={'arm_id': 'arm_left'})
# x:1572 y:418
OperatableStateMachine.add('Transport_part_from_bin_to_agv_LeftArm',
self.use_behavior(Transport_part_from_bin_to_agv_LeftArmSM, 'Transport_part_from_bin_to_agv_LeftArm'),
transitions={'finished': 'SetVariablePart2', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'agv_id': 'agv_id', 'part_type': 'part_type', 'part_pose': 'part_pose', 'bin_id': 'bin_id'})
# x:1654 y:275
OperatableStateMachine.add('SetVariablePart1',
ReplaceState(),
transitions={'done': 'IncrementProductIndex'},
autonomy={'done': Autonomy.Off},
remapping={'value': 'part_pose', 'result': 'product_location1'})
# x:1651 y:503
OperatableStateMachine.add('SetVariablePart2',
ReplaceState(),
transitions={'done': 'IncrementProductIndex'},
autonomy={'done': Autonomy.Off},
remapping={'value': 'part_pose', 'result': 'product_location2'})
# x:997 y:510
OperatableStateMachine.add('CheckAttachedRight2',
CheckGripperattached(),
transitions={'True': 'CheckAttachedLeft2', 'False': 'GetPart', 'invalid_arm_id': 'failed'},
autonomy={'True': Autonomy.Off, 'False': Autonomy.Off, 'invalid_arm_id': Autonomy.Off},
remapping={'arm_id': 'arm_right'})
# x:803 y:520
OperatableStateMachine.add('CheckAttachedLeft2',
CheckGripperattached(),
transitions={'True': 'PlaceOnAgv', 'False': 'GetPart', 'invalid_arm_id': 'failed'},
autonomy={'True': Autonomy.Off, 'False': Autonomy.Off, 'invalid_arm_id': Autonomy.Off},
remapping={'arm_id': 'arm_left'})
# x:533 y:450
OperatableStateMachine.add('PlaceOnAgv',
self.use_behavior(PlaceOnAgvSM, 'PlaceOnAgv'),
transitions={'finished': 'GetPart', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'agv_id': 'agv_id', 'part_pose_right': 'product_location1', 'part_pose_left': 'product_location2'})
# x:1371 y:670
OperatableStateMachine.add('HomepositieRightArm',
SrdfStateToMoveitAriac(),
transitions={'reached': 'HomepositieLeftArm', 'planning_failed': 'Retry_1', 'control_failed': 'Retry_1', 'param_error': 'failed'},
autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off},
remapping={'config_name': 'home_rightarm_id', 'move_group': 'move_group_right', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'})
# x:1182 y:655
OperatableStateMachine.add('HomepositieLeftArm',
SrdfStateToMoveitAriac(),
transitions={'reached': 'PlaceOnAgv_2', 'planning_failed': 'Retry_2', 'control_failed': 'Retry_2', 'param_error': 'failed'},
autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off},
remapping={'config_name': 'home_leftarm_id', 'move_group': 'move_group_left', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'})
# x:1558 y:671
OperatableStateMachine.add('Retry_1',
WaitState(wait_time=3),
transitions={'done': 'HomepositieRightArm'},
autonomy={'done': Autonomy.Off})
# x:1226 y:733
OperatableStateMachine.add('Retry_2',
WaitState(wait_time=3),
transitions={'done': 'HomepositieLeftArm'},
autonomy={'done': Autonomy.Off})
# x:832 y:626
OperatableStateMachine.add('PlaceOnAgv_2',
self.use_behavior(PlaceOnAgvSM, 'PlaceOnAgv_2'),
transitions={'finished': 'ResetProductIndex', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'agv_id': 'agv_id', 'part_pose_right': 'product_location1', 'part_pose_left': 'product_location2'})
return _state_machine
def create(self):
# x:667 y:540, x:729 y:205
_state_machine = OperatableStateMachine(outcomes=['finished', 'fail'])
_state_machine.userdata.shipments = []
_state_machine.userdata.part_type = ''
_state_machine.userdata.material_locations = []
_state_machine.userdata.number_of_shipments = 0
_state_machine.userdata.order_id = ''
_state_machine.userdata.products = []
_state_machine.userdata.number_of_products = 0
_state_machine.userdata.agv_id = ''
_state_machine.userdata.shipment_type = ''
_state_machine.userdata.pose = []
_state_machine.userdata.product_index = 0
_state_machine.userdata.shipment_index = 1
_state_machine.userdata.add_one = 1
_state_machine.userdata.part_pose = []
_state_machine.userdata.zero = 0
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:30 y:40
OperatableStateMachine.add('Start',
StartAssignment(),
transitions={'continue': 'GetOrder'},
autonomy={'continue': Autonomy.Off})
# x:905 y:34
OperatableStateMachine.add('GetProductPose',
GetPartFromProductsState(),
transitions={
'continue': 'message_3',
'invalid_index': 'fail'
},
autonomy={
'continue': Autonomy.Off,
'invalid_index': Autonomy.Off
},
remapping={
'products': 'products',
'index': 'product_index',
'type': 'part_type',
'pose': 'part_pose'
})
# x:1091 y:123
OperatableStateMachine.add('TransportPartToAgv',
self.use_behavior(
TransportPartToAgvSM,
'TransportPartToAgv'),
transitions={
'finished': 'IncrementProductIndex',
'failed': 'fail'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'agv_id': 'agv_id',
'part_type': 'part_type',
'part_pose': 'part_pose'
})
# x:1095 y:229
OperatableStateMachine.add('IncrementProductIndex',
AddNumericState(),
transitions={'done': 'ShipmentReady?'},
autonomy={'done': Autonomy.Off},
remapping={
'value_a': 'product_index',
'value_b': 'add_one',
'result': 'product_index'
})
# x:1092 y:486
OperatableStateMachine.add(
'IncrementShipmentIndex',
AddNumericState(),
transitions={'done': 'notify_shipment_ready'},
autonomy={'done': Autonomy.Off},
remapping={
'value_a': 'shipment_index',
'value_b': 'add_one',
'result': 'shipment_index'
})
# x:1094 y:329
OperatableStateMachine.add('ShipmentReady?',
EqualState(),
transitions={
'true': 'ResetProductIndex',
'false': 'GetProductPose'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'value_a': 'product_index',
'value_b': 'number_of_products'
})
# x:474 y:461
OperatableStateMachine.add('OrderReady?',
EqualState(),
transitions={
'true': 'ResetShiptIndex',
'false': 'GetProductsShipment'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'value_a': 'shipment_index',
'value_b': 'number_of_shipments'
})
# x:857 y:483
OperatableStateMachine.add('notify_shipment_ready',
self.use_behavior(
notify_shipment_readySM,
'notify_shipment_ready'),
transitions={
'finished': 'OrderReady?',
'failed': 'fail'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:402 y:33
OperatableStateMachine.add(
'message',
MessageLogger(),
transitions={'continue': 'GetProductsShipment'},
autonomy={'continue': Autonomy.Off},
remapping={'message': 'order_id'})
# x:766 y:40
OperatableStateMachine.add(
'message_2',
MessageLogger(),
transitions={'continue': 'GetProductPose'},
autonomy={'continue': Autonomy.Off},
remapping={'message': 'shipment_type'})
# x:1090 y:36
OperatableStateMachine.add(
'message_3',
MessageLogger(),
transitions={'continue': 'TransportPartToAgv'},
autonomy={'continue': Autonomy.Off},
remapping={'message': 'part_type'})
# x:560 y:34
OperatableStateMachine.add('GetProductsShipment',
GetProductsFromShipmentState(),
transitions={
'continue': 'message_2',
'invalid_index': 'fail'
},
autonomy={
'continue': Autonomy.Off,
'invalid_index': Autonomy.Off
},
remapping={
'shipments':
'shipments',
'index':
'shipment_index',
'shipment_type':
'shipment_type',
'agv_id':
'agv_id',
'products':
'products',
'number_of_products':
'number_of_products'
})
# x:203 y:32
OperatableStateMachine.add('GetOrder',
GetOrderState(),
transitions={'continue': 'message'},
autonomy={'continue': Autonomy.Off},
remapping={
'order_id':
'order_id',
'shipments':
'shipments',
'number_of_shipments':
'number_of_shipments'
})
# x:1090 y:407
OperatableStateMachine.add(
'ResetProductIndex',
ReplaceState(),
transitions={'done': 'IncrementShipmentIndex'},
autonomy={'done': Autonomy.Off},
remapping={
'value': 'zero',
'result': 'product_index'
})
# x:338 y:318
OperatableStateMachine.add('ResetShiptIndex',
ReplaceState(),
transitions={'done': 'GetOrder'},
autonomy={'done': Autonomy.Off},
remapping={
'value': 'zero',
'result': 'shipment_index'
})
return _state_machine
def create(self):
# x:144 y:698, x:147 y:461
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.order_id = ''
_state_machine.userdata.shipments = []
_state_machine.userdata.number_of_shipments = 0
_state_machine.userdata.shipment_index = 0
_state_machine.userdata.agv_id = ''
_state_machine.userdata.products = []
_state_machine.userdata.number_of_products = 0
_state_machine.userdata.product_index = 0
_state_machine.userdata.part_type = ''
_state_machine.userdata.part_pose = []
_state_machine.userdata.one_value = 1
_state_machine.userdata.zero_value = 0
_state_machine.userdata.shipment_type = ''
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:30 y:40
OperatableStateMachine.add('StartAssignment',
StartAssignment(),
transitions={'continue': 'GetOrder'},
autonomy={'continue': Autonomy.Off})
# x:190 y:41
OperatableStateMachine.add(
'GetOrder',
GetOrderState(),
transitions={'continue': 'GetProductsFromShipment'},
autonomy={'continue': Autonomy.Off},
remapping={
'order_id': 'order_id',
'shipments': 'shipments',
'number_of_shipments': 'number_of_shipments'
})
# x:409 y:40
OperatableStateMachine.add('GetProductsFromShipment',
GetProductsFromShipmentState(),
transitions={
'continue': 'GetPartFromProduct',
'invalid_index': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'invalid_index': Autonomy.Off
},
remapping={
'shipments':
'shipments',
'index':
'shipment_index',
'shipment_type':
'shipment_type',
'agv_id':
'agv_id',
'products':
'products',
'number_of_products':
'number_of_products'
})
# x:670 y:38
OperatableStateMachine.add(
'GetPartFromProduct',
GetPartFromProductsState(),
transitions={
'continue': 'transport_part_form_bin_to_agv_state',
'invalid_index': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'invalid_index': Autonomy.Off
},
remapping={
'products': 'products',
'index': 'product_index',
'type': 'part_type',
'pose': 'part_pose'
})
# x:1211 y:34
OperatableStateMachine.add('IncrementProductIndex',
AddNumericState(),
transitions={'done': 'EndProducts'},
autonomy={'done': Autonomy.Off},
remapping={
'value_a': 'product_index',
'value_b': 'one_value',
'result': 'product_index'
})
# x:1213 y:164
OperatableStateMachine.add('EndProducts',
EqualState(),
transitions={
'true': 'ResetProductIndex',
'false': 'GetPartFromProduct'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'value_a': 'product_index',
'value_b': 'number_of_products'
})
# x:1214 y:282
OperatableStateMachine.add(
'ResetProductIndex',
ReplaceState(),
transitions={'done': 'IncrementShipmentIndex'},
autonomy={'done': Autonomy.Off},
remapping={
'value': 'zero_value',
'result': 'product_index'
})
# x:1214 y:413
OperatableStateMachine.add('IncrementShipmentIndex',
AddNumericState(),
transitions={'done': 'EindShipments'},
autonomy={'done': Autonomy.Off},
remapping={
'value_a': 'shipment_index',
'value_b': 'one_value',
'result': 'shipment_index'
})
# x:1215 y:541
OperatableStateMachine.add('EindShipments',
EqualState(),
transitions={
'true': 'ResetShipmentIndex',
'false': 'notify_shipment_ready'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'value_a': 'shipment_index',
'value_b': 'number_of_shipments'
})
# x:1000 y:541
OperatableStateMachine.add('ResetShipmentIndex',
ReplaceState(),
transitions={'done': 'GetOrder'},
autonomy={'done': Autonomy.Off},
remapping={
'value': 'zero_value',
'result': 'shipment_index'
})
# x:1211 y:782
OperatableStateMachine.add('notify_shipment_ready',
self.use_behavior(
notify_shipment_readySM,
'notify_shipment_ready'),
transitions={
'finished':
'GetProductsFromShipment',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:911 y:38
OperatableStateMachine.add(
'transport_part_form_bin_to_agv_state',
self.use_behavior(transport_part_form_bin_to_agv_stateSM,
'transport_part_form_bin_to_agv_state'),
transitions={
'finished': 'IncrementProductIndex',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
return _state_machine
def create(self):
# x:27 y:469, x:242 y:360
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.powerOn = 100
_state_machine.userdata.config_name = ''
_state_machine.userdata.move_group_g = 'Gantry'
_state_machine.userdata.move_group_prefix = '/ariac/gantry'
_state_machine.userdata.action_topic = '/move_group'
_state_machine.userdata.robot_name = 'gantry'
_state_machine.userdata.joint_values = []
_state_machine.userdata.joint_names = []
_state_machine.userdata.ref_frame = 'world'
_state_machine.userdata.camera_topic = ''
_state_machine.userdata.camera_frame = ''
_state_machine.userdata.tool_link = ''
_state_machine.userdata.pose = ''
_state_machine.userdata.rotation = 0
_state_machine.userdata.move_group = ''
_state_machine.userdata.arm_id = ''
_state_machine.userdata.part_index = 0
_state_machine.userdata.part_type = ''
_state_machine.userdata.one = 1
_state_machine.userdata.product_itt = 0
_state_machine.userdata.shipments_index = 0
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:64 y:31
OperatableStateMachine.add(
'Start_assignment',
StartAssignment(),
transitions={'continue': 'move_home_belt'},
autonomy={'continue': Autonomy.Off})
# x:431 y:28
OperatableStateMachine.add(
'get_orders',
GetOrderState(),
transitions={'continue': 'Get shipments'},
autonomy={'continue': Autonomy.Off},
remapping={
'order_id': 'order_id',
'shipments': 'shipments',
'number_of_shipments': 'number_of_shipments'
})
# x:615 y:25
OperatableStateMachine.add('Get shipments',
GetProductsFromShipmentState(),
transitions={
'continue': 'get part',
'invalid_index': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'invalid_index': Autonomy.Off
},
remapping={
'shipments':
'shipments',
'index':
'shipments_index',
'shipment_type':
'shipment_type',
'agv_id':
'agv_id',
'products':
'products',
'number_of_products':
'number_of_products'
})
# x:833 y:35
OperatableStateMachine.add('get part',
GetPartFromProductsState(),
transitions={
'continue': 'message part main prg',
'invalid_index': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'invalid_index': Autonomy.Off
},
remapping={
'products': 'products',
'index': 'part_index',
'type': 'part_type',
'pose': 'pose'
})
# x:261 y:28
OperatableStateMachine.add('move_home_belt',
self.use_behavior(
move_home_beltSM, 'move_home_belt'),
transitions={
'finished': 'get_orders',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:1153 y:72
OperatableStateMachine.add('Order_picking',
self.use_behavior(
Order_pickingSM, 'Order_picking'),
transitions={
'finished': 'add_itterator order',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'part_type': 'part_type'})
# x:1038 y:147
OperatableStateMachine.add(
'add_itterator order',
AddNumericState(),
transitions={'done': 'part index message'},
autonomy={'done': Autonomy.Off},
remapping={
'value_a': 'one',
'value_b': 'part_index',
'result': 'part_index'
})
# x:1034 y:328
OperatableStateMachine.add('Check_product_amount',
EqualState(),
transitions={
'true': 'move_home_belt',
'false': 'Get shipments'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'value_a': 'number_of_products',
'value_b': 'part_index'
})
# x:1053 y:12
OperatableStateMachine.add(
'message part main prg',
MessageState(),
transitions={'continue': 'Order_picking'},
autonomy={'continue': Autonomy.Off},
remapping={'message': 'part_type'})
# x:1141 y:221
OperatableStateMachine.add(
'part index message',
MessageState(),
transitions={'continue': 'Check_product_amount'},
autonomy={'continue': Autonomy.Off},
remapping={'message': 'part_index'})
return _state_machine
def create(self):
# x:1751 y:131, x:910 y:358
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.shipments = []
_state_machine.userdata.material_locations = []
_state_machine.userdata.NumberOfShipments = 0
_state_machine.userdata.OrderId = ''
_state_machine.userdata.Products = []
_state_machine.userdata.NumberOfProducts = 0
_state_machine.userdata.power = 0
_state_machine.userdata.config_name_PreHomeR = 'Rechts_PreDrop_AGV'
_state_machine.userdata.config_name_PreHomeL = 'Links_PreDrop_AGV'
_state_machine.userdata.move_group_R = 'Right_Arm'
_state_machine.userdata.move_group_L = 'Left_Arm'
_state_machine.userdata.move_group_prefix = '/ariac/gantry'
_state_machine.userdata.action_topic = '/move_group'
_state_machine.userdata.robot_name = ''
_state_machine.userdata.Old_Id = ''
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:62 y:57
OperatableStateMachine.add('StartAssignment',
StartAssignment(),
transitions={'continue': 'TurnOffBelt'},
autonomy={'continue': Autonomy.Off})
# x:958 y:51
OperatableStateMachine.add('GetOrder',
GetOrderState(),
transitions={'continue': 'Id_Check'},
autonomy={'continue': Autonomy.Off},
remapping={'order_id': 'OrderId', 'shipments': 'Shipments', 'number_of_shipments': 'NumberOfShipments'})
# x:1552 y:126
OperatableStateMachine.add('EndAssigment',
EndAssignment(),
transitions={'continue': 'finished'},
autonomy={'continue': Autonomy.Off})
# x:1317 y:273
OperatableStateMachine.add('GetShipments',
self.use_behavior(GetShipmentsSM, 'GetShipments'),
transitions={'finished': 'GetOrder', 'failed': 'EndAssigment'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'Shipments': 'Shipments', 'NumberOfShipments': 'NumberOfShipments'})
# x:249 y:56
OperatableStateMachine.add('TurnOffBelt',
SetConveyorbeltPowerState(),
transitions={'continue': 'PreHomeL', 'fail': 'failed'},
autonomy={'continue': Autonomy.Off, 'fail': Autonomy.Off},
remapping={'power': 'power'})
# x:514 y:36
OperatableStateMachine.add('PreHomeL',
SrdfStateToMoveitAriac(),
transitions={'reached': 'PreHomeR', 'planning_failed': 'failed', 'control_failed': 'PreHomeR', 'param_error': 'failed'},
autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off},
remapping={'config_name': 'config_name_PreHomeL', 'move_group': 'move_group_L', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'})
# x:739 y:53
OperatableStateMachine.add('PreHomeR',
SrdfStateToMoveitAriac(),
transitions={'reached': 'GetOrder', 'planning_failed': 'failed', 'control_failed': 'GetOrder', 'param_error': 'failed'},
autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off},
remapping={'config_name': 'config_name_PreHomeR', 'move_group': 'move_group_R', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'})
# x:1318 y:161
OperatableStateMachine.add('Old_Id',
ReplaceState(),
transitions={'done': 'GetShipments'},
autonomy={'done': Autonomy.Off},
remapping={'value': 'OrderId', 'result': 'Old_Id'})
# x:1314 y:38
OperatableStateMachine.add('Id_Check',
EqualState(),
transitions={'true': 'EndAssigment', 'false': 'Old_Id'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'value_a': 'OrderId', 'value_b': 'Old_Id'})
return _state_machine
def create(self):
# x:1067 y:518, x:672 y:189
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['shipment_index', 'part_index'],
output_keys=[
'part_type_L', 'part_type_R', 'agv_id', 'part_pose_L',
'part_pose_R', 'shipment_index', 'part_index'
])
_state_machine.userdata.order_id = ''
_state_machine.userdata.shipments = ''
_state_machine.userdata.number_of_shipments = 0
_state_machine.userdata.shipment_index = 0
_state_machine.userdata.shipment_type = ''
_state_machine.userdata.products = []
_state_machine.userdata.number_of_products = 0
_state_machine.userdata.part_index = 0
_state_machine.userdata.part_type_R = ''
_state_machine.userdata.part_pose_L = []
_state_machine.userdata.part_type_L = []
_state_machine.userdata.part_pose_R = []
_state_machine.userdata.add_one = 1
_state_machine.userdata.reset = 0
_state_machine.userdata.agv_id = ''
_state_machine.userdata.none = 'None'
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:253 y:450
OperatableStateMachine.add('ShipmentReady?',
EqualState(),
transitions={
'true': 'ResetPartIndex',
'false': 'GetRPartPose'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'value_a': 'number_of_products',
'value_b': 'part_index'
})
# x:442 y:38
OperatableStateMachine.add('GetShipment',
GetProductsFromShipmentState(),
transitions={
'continue': 'GetRPartPose',
'invalid_index': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'invalid_index': Autonomy.Off
},
remapping={
'shipments':
'shipments',
'index':
'shipment_index',
'shipment_type':
'shipment_type',
'agv_id':
'agv_id',
'products':
'products',
'number_of_products':
'number_of_products'
})
# x:658 y:37
OperatableStateMachine.add('GetRPartPose',
GetPartFromProductsState(),
transitions={
'continue': 'IncrementPartIndex',
'invalid_index': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'invalid_index': Autonomy.Off
},
remapping={
'products': 'products',
'index': 'part_index',
'type': 'part_type_R',
'pose': 'part_pose_R'
})
# x:853 y:181
OperatableStateMachine.add('GetLPartPose',
GetPartFromProductsState(),
transitions={
'continue': 'IncrementPartIndex_2',
'invalid_index': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'invalid_index': Autonomy.Off
},
remapping={
'products': 'products',
'index': 'part_index',
'type': 'part_type_L',
'pose': 'part_pose_L'
})
# x:1046 y:185
OperatableStateMachine.add('IncrementShipIndex',
AddNumericState(),
transitions={'done': 'CheckAGV'},
autonomy={'done': Autonomy.Off},
remapping={
'value_a': 'shipment_index',
'value_b': 'add_one',
'result': 'shipment_index'
})
# x:262 y:171
OperatableStateMachine.add('OrderReady?',
EqualState(),
transitions={
'true': 'ResetShipmentIndex',
'false': 'GetShipment'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'value_a': 'number_of_shipments',
'value_b': 'shipment_index'
})
# x:853 y:253
OperatableStateMachine.add(
'IncrementPartIndex_2',
AddNumericState(),
transitions={'done': 'ShipmentReady2?2'},
autonomy={'done': Autonomy.Off},
remapping={
'value_a': 'part_index',
'value_b': 'add_one',
'result': 'part_index'
})
# x:853 y:111
OperatableStateMachine.add('ShipmentReady2?',
EqualState(),
transitions={
'true': 'None',
'false': 'GetLPartPose'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'value_a': 'number_of_products',
'value_b': 'part_index'
})
# x:249 y:387
OperatableStateMachine.add('ResetPartIndex',
ReplaceState(),
transitions={'done': 'ShipIndex0'},
autonomy={'done': Autonomy.Off},
remapping={
'value': 'reset',
'result': 'part_index'
})
# x:260 y:107
OperatableStateMachine.add('ResetShipmentIndex',
ReplaceState(),
transitions={'done': 'GetOrder'},
autonomy={'done': Autonomy.Off},
remapping={
'value': 'reset',
'result': 'shipment_index'
})
# x:261 y:38
OperatableStateMachine.add('GetOrder',
GetOrderState(),
transitions={'continue': 'GetShipment'},
autonomy={'continue': Autonomy.Off},
remapping={
'order_id':
'order_id',
'shipments':
'shipments',
'number_of_shipments':
'number_of_shipments'
})
# x:1044 y:110
OperatableStateMachine.add(
'None',
ReplaceState(),
transitions={'done': 'IncrementShipIndex'},
autonomy={'done': Autonomy.Off},
remapping={
'value': 'none',
'result': 'part_type_L'
})
# x:850 y:36
OperatableStateMachine.add('IncrementPartIndex',
AddNumericState(),
transitions={'done': 'ShipmentReady2?'},
autonomy={'done': Autonomy.Off},
remapping={
'value_a': 'part_index',
'value_b': 'add_one',
'result': 'part_index'
})
# x:1041 y:257
OperatableStateMachine.add('ShipmentReady2?2',
EqualState(),
transitions={
'true': 'IncrementShipIndex',
'false': 'CheckAGV'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'value_a': 'number_of_products',
'value_b': 'part_index'
})
# x:215 y:313
OperatableStateMachine.add('ShipIndex0',
EqualState(),
transitions={
'true': 'OrderReady?',
'false': 'SendShipment'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'value_a': 'shipment_index',
'value_b': 'reset'
})
# x:1159 y:330
OperatableStateMachine.add('CheckAGV',
self.use_behavior(
CheckAGVSM, 'CheckAGV'),
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'agv_id': 'agv_id'})
# x:325 y:244
OperatableStateMachine.add('SendShipment',
NotifyShipmentReadyState(),
transitions={
'continue': 'OrderReady?',
'fail': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={
'agv_id': 'agv_id',
'shipment_type': 'shipment_type',
'success': 'success',
'message': 'message'
})
return _state_machine
def create(self):
# x:1132 y:54, x:687 y:211
_state_machine = OperatableStateMachine(outcomes=['finished', 'fail'])
_state_machine.userdata.StartText = 'Opdracht gestart'
_state_machine.userdata.StopText = 'Opdracht gestopt'
_state_machine.userdata.Shipments = []
_state_machine.userdata.part = 'gear_part'
_state_machine.userdata.material_locations = []
_state_machine.userdata.NumberOfShipments = 0
_state_machine.userdata.OrderId = ''
_state_machine.userdata.Products = []
_state_machine.userdata.NumberOfProducts = 0
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:30 y:40
OperatableStateMachine.add('StartAssignment',
StartAssignment(),
transitions={'continue': 'GetOrder'},
autonomy={'continue': Autonomy.Off})
# x:838 y:39
OperatableStateMachine.add('EndAssigment',
EndAssignment(),
transitions={'continue': 'finished'},
autonomy={'continue': Autonomy.Off})
# x:286 y:41
OperatableStateMachine.add(
'GetOrder',
GetOrderState(),
transitions={'continue': 'get_shipments'},
autonomy={'continue': Autonomy.Off},
remapping={
'order_id': 'OrderId',
'shipments': 'Shipments',
'number_of_shipments': 'NumberOfShipments'
})
# x:614 y:40
OperatableStateMachine.add('get_shipments',
self.use_behavior(
get_shipmentsSM, 'get_shipments'),
transitions={
'finished': 'EndAssigment',
'fail': 'fail'
},
autonomy={
'finished': Autonomy.Inherit,
'fail': Autonomy.Inherit
},
remapping={
'Shipments': 'Shipments',
'NumberOfShipments':
'NumberOfShipments'
})
return _state_machine
def create(self):
# x:1253 y:57, x:671 y:211
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.shipments = []
_state_machine.userdata.order_id = ''
_state_machine.userdata.number_of_shipments = 0
_state_machine.userdata.shipment_index = 1
_state_machine.userdata.shipment_type = ''
_state_machine.userdata.agv_id = ''
_state_machine.userdata.products = []
_state_machine.userdata.number_of_products = 0
_state_machine.userdata.product_index = 1
_state_machine.userdata.part_type = ''
_state_machine.userdata.part_pose = []
_state_machine.userdata.move_group = 'manipulator'
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:30 y:40
OperatableStateMachine.add('StartAssignment',
StartAssignment(),
transitions={'continue': 'GetOrder'},
autonomy={'continue': Autonomy.Off})
# x:369 y:42
OperatableStateMachine.add('GetProductsFromShipment',
GetProductsFromShipmentState(),
transitions={
'continue': 'GetPartFromProducts',
'invalid_index': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'invalid_index': Autonomy.Off
},
remapping={
'shipments':
'shipments',
'index':
'shipment_index',
'shipment_type':
'shipment_type',
'agv_id':
'agv_id',
'products':
'products',
'number_of_products':
'number_of_products'
})
# x:574 y:43
OperatableStateMachine.add(
'GetPartFromProducts',
GetPartFromProductsState(),
transitions={
'continue': 'transport_part_form_bin_to_agv_state',
'invalid_index': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'invalid_index': Autonomy.Off
},
remapping={
'products': 'products',
'index': 'product_index',
'type': 'part_type',
'pose': 'part_pose'
})
# x:780 y:44
OperatableStateMachine.add(
'transport_part_form_bin_to_agv_state',
self.use_behavior(transport_part_form_bin_to_agv_stateSM,
'transport_part_form_bin_to_agv_state'),
transitions={
'finished': 'EndAssignment',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'part_type': 'part_type',
'agv_id': 'agv_id',
'pose_on_agv': 'part_pose'
})
# x:1040 y:45
OperatableStateMachine.add('EndAssignment',
EndAssignment(),
transitions={'continue': 'finished'},
autonomy={'continue': Autonomy.Off})
# x:181 y:44
OperatableStateMachine.add(
'GetOrder',
GetOrderState(),
transitions={'continue': 'GetProductsFromShipment'},
autonomy={'continue': Autonomy.Off},
remapping={
'order_id': 'order_id',
'shipments': 'shipments',
'number_of_shipments': 'number_of_shipments'
})
return _state_machine
def create(self):
# x:27 y:469, x:242 y:360
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'],
output_keys=['part_type', 'pose_on_agv'])
_state_machine.userdata.powerOn = 100
_state_machine.userdata.config_name = ''
_state_machine.userdata.move_group_g = 'Gantry'
_state_machine.userdata.move_group_prefix = '/ariac/gantry'
_state_machine.userdata.action_topic = '/move_group'
_state_machine.userdata.robot_name = 'gantry'
_state_machine.userdata.joint_values = []
_state_machine.userdata.joint_names = []
_state_machine.userdata.ref_frame = 'world'
_state_machine.userdata.camera_topic = ''
_state_machine.userdata.camera_frame = ''
_state_machine.userdata.tool_link = ''
_state_machine.userdata.pose_on_agv = ''
_state_machine.userdata.rotation = 0
_state_machine.userdata.move_group = ''
_state_machine.userdata.arm_id = ''
_state_machine.userdata.part_index = 0
_state_machine.userdata.part_type = ''
_state_machine.userdata.one = 1
_state_machine.userdata.product_itt = 0
_state_machine.userdata.shipments_index = 0
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:64 y:31
OperatableStateMachine.add(
'Start_assignment',
StartAssignment(),
transitions={'continue': 'move_home_belt_nvd'},
autonomy={'continue': Autonomy.Off})
# x:431 y:28
OperatableStateMachine.add(
'get_orders',
GetOrderState(),
transitions={'continue': 'Get shipments'},
autonomy={'continue': Autonomy.Off},
remapping={
'order_id': 'order_id',
'shipments': 'shipments',
'number_of_shipments': 'number_of_shipments'
})
# x:615 y:25
OperatableStateMachine.add('Get shipments',
GetProductsFromShipmentState(),
transitions={
'continue': 'get part',
'invalid_index': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'invalid_index': Autonomy.Off
},
remapping={
'shipments':
'shipments',
'index':
'shipments_index',
'shipment_type':
'shipment_type',
'agv_id':
'agv_id',
'products':
'products',
'number_of_products':
'number_of_products'
})
# x:833 y:35
OperatableStateMachine.add('get part',
GetPartFromProductsState(),
transitions={
'continue': 'message part main prg',
'invalid_index': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'invalid_index': Autonomy.Off
},
remapping={
'products': 'products',
'index': 'part_index',
'type': 'part_type',
'pose': 'pose_on_agv'
})
# x:1263 y:258
OperatableStateMachine.add('Order_picking',
self.use_behavior(
Order_pickingSM, 'Order_picking'),
transitions={
'finished': 'add_itterator order',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'part_type': 'part_type',
'pose_on_agv': 'pose_on_agv',
'pose_on_agv_r': 'pose_on_agv_r',
'pose_on_agv_l': 'pose_on_agv_l'
})
# x:1148 y:353
OperatableStateMachine.add(
'add_itterator order',
AddNumericState(),
transitions={'done': 'part index message'},
autonomy={'done': Autonomy.Off},
remapping={
'value_a': 'one',
'value_b': 'part_index',
'result': 'part_index'
})
# x:914 y:501
OperatableStateMachine.add('Check_product_amount',
EqualState(),
transitions={
'true': 'move_to_agv',
'false': 'gripper check'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'value_a': 'number_of_products',
'value_b': 'part_index'
})
# x:1053 y:12
OperatableStateMachine.add(
'message part main prg',
MessageState(),
transitions={'continue': 'choice point'},
autonomy={'continue': Autonomy.Off},
remapping={'message': 'part_type'})
# x:1154 y:437
OperatableStateMachine.add(
'part index message',
MessageState(),
transitions={'continue': 'Check_product_amount'},
autonomy={'continue': Autonomy.Off},
remapping={'message': 'part_index'})
# x:1277 y:24
OperatableStateMachine.add('choice point',
choiceoflocation(time_out=0.5),
transitions={
'bingr0': 'Order_picking',
'bingr1': 'Order_picking',
'bingr2': 'Order_picking',
'bingr3': 'Order_picking',
'bingr4':
'shelve pick_behavior_nvd',
'bingr5':
'shelve pick_behavior_nvd',
'failed': 'failed'
},
autonomy={
'bingr0': Autonomy.Off,
'bingr1': Autonomy.Off,
'bingr2': Autonomy.Off,
'bingr3': Autonomy.Off,
'bingr4': Autonomy.Off,
'bingr5': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'part_type': 'part_type'})
# x:999 y:213
OperatableStateMachine.add('shelve pick_behavior_nvd',
self.use_behavior(
shelvepick_behavior_nvdSM,
'shelve pick_behavior_nvd'),
transitions={
'finished': 'add_itterator order',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'pose_on_agv': 'pose_on_agv',
'part_type': 'part_type',
'pose_on_agv_l': 'pose_on_agv_l',
'pose_on_agv_r': 'pose_on_agv_r'
})
# x:235 y:9
OperatableStateMachine.add('move_home_belt_nvd',
self.use_behavior(
move_home_belt_nvdSM,
'move_home_belt_nvd'),
transitions={
'finished': 'get_orders',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:896 y:411
OperatableStateMachine.add('gripper check',
GripperActiveCheck(),
transitions={
'Left': 'Get shipments',
'Right': 'Get shipments',
'failed': 'failed',
'Full': 'move_to_agv'
},
autonomy={
'Left': Autonomy.Off,
'Right': Autonomy.Off,
'failed': Autonomy.Off,
'Full': Autonomy.Off
},
remapping={
'arm_id': 'arm_id',
'tool_link': 'tool_link',
'move_group': 'move_group'
})
# x:635 y:505
OperatableStateMachine.add('move_to_agv',
self.use_behavior(
move_to_agvSM, 'move_to_agv'),
transitions={
'finished':
'Check_product_amount_2',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'agv_id': 'agv_id',
'pose_on_agv_l': 'pose_on_agv_l',
'pose_on_agv_r': 'pose_on_agv_r'
})
# x:438 y:593
OperatableStateMachine.add('Check_product_amount_2',
EqualState(),
transitions={
'true': 'finished',
'false': 'Get shipments'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'value_a': 'number_of_products',
'value_b': 'part_index'
})
return _state_machine