Python flexbe_core.OperatableStateMachine类代码示例

	def create(self):
		# x:30 y:322, x:130 y:322
		_state_machine = OperatableStateMachine(outcomes=['succeeded', 'aborted'], input_keys=['pose', 'params_distance'])
		_state_machine.userdata.goalId = ''
		_state_machine.userdata.params_distance = 0
		_state_machine.userdata.pose = PoseStamped()

		# Additional creation code can be added inside the following tags
		# [MANUAL_CREATE]

		# [/MANUAL_CREATE]


		with _state_machine:
			# x:30 y:40
			OperatableStateMachine.add('send_request',
										Send_Request_new(useMoveBase=True),
										transitions={'succeeded': 'wait'},
										autonomy={'succeeded': Autonomy.Off},
										remapping={'goalId': 'goalId', 'params_distance': 'params_distance', 'pose': 'pose'})

			# x:223 y:96
			OperatableStateMachine.add('wait',
										Wait_DriveTo_new(useMoveBase=True),
										transitions={'succeeded': 'succeeded', 'aborted': 'aborted', 'waiting': 'wait'},
										autonomy={'succeeded': Autonomy.Off, 'aborted': Autonomy.Off, 'waiting': Autonomy.Off},
										remapping={'goalId': 'goalId'})


		return _state_machine

	def create(self):
		# x:30 y:322, x:130 y:322
		_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])

		# Additional creation code can be added inside the following tags
		# [MANUAL_CREATE]
		
		# [/MANUAL_CREATE]


		with _state_machine:
			# x:78 y:62
			OperatableStateMachine.add('behavior_exploration',
										self.use_behavior(behavior_explorationSM, 'behavior_exploration'),
										transitions={'finished': 'GetCloserToVictim'},
										autonomy={'finished': Autonomy.Inherit})

			# x:89 y:195
			OperatableStateMachine.add('GetCloserToVictim',
										self.use_behavior(GetCloserToVictimSM, 'GetCloserToVictim'),
										transitions={'done': 'behavior_exploration'},
										autonomy={'done': Autonomy.Inherit})


		return _state_machine

	def create(self):
		motion_key_1 = stand_up_front_100
		motion_key_2 = stand_up_front_200
		# x:533 y:194, x:130 y:322
		_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])

		# Additional creation code can be added inside the following tags
		# [MANUAL_CREATE]
		
		# [/MANUAL_CREATE]


		with _state_machine:
			# x:30 y:40
			OperatableStateMachine.add('Execute_First_Part',
										MotionServiceState(motion_key=motion_key_1, time_factor=1),
										transitions={'done': 'Execute_Second_Part', 'failed': 'failed'},
										autonomy={'done': Autonomy.High, 'failed': Autonomy.Low})

			# x:203 y:125
			OperatableStateMachine.add('Execute_Second_Part',
										MotionServiceState(motion_key=motion_key_2, time_factor=1),
										transitions={'done': 'finished', 'failed': 'failed'},
										autonomy={'done': Autonomy.High, 'failed': Autonomy.Low})


		return _state_machine

	def create(self):
		# x:83 y:340, x:283 y:190
		_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])

		# Additional creation code can be added inside the following tags
		# [MANUAL_CREATE]
		
		# [/MANUAL_CREATE]


		with _state_machine:
			# x:60 y:78
			OperatableStateMachine.add('Log_Sweep',
										LogState(text='Now performing a short sweep...', severity=Logger.REPORT_INFO),
										transitions={'done': 'Perform_Sweep'},
										autonomy={'done': Autonomy.Off})

			# x:47 y:178
			OperatableStateMachine.add('Perform_Sweep',
										MetricSweepState(sweep_type='short'),
										transitions={'sweeped': 'finished', 'failed': 'failed'},
										autonomy={'sweeped': Autonomy.Off, 'failed': Autonomy.Off})


		return _state_machine

	def create(self):
		# x:30 y:365, x:130 y:365
		_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
		_state_machine.userdata.startCheckPosition = PoseStamped()
		_state_machine.userdata.startCheckID = ''
		_state_machine.userdata.objectType = 'start_check_pipe'
		_state_machine.userdata.objectState = 0
		_state_machine.userdata.joint_config = [0,0,0,0]
		_state_machine.userdata.group_name = 'arm_group'
		_state_machine.userdata.armType = 'pipes'

		# Additional creation code can be added inside the following tags
		# [MANUAL_CREATE]
		
		# [/MANUAL_CREATE]


		with _state_machine:
			# x:30 y:40
			OperatableStateMachine.add('DetectObject',
										DetectObjectNew(),
										transitions={'found': 'MoveArmPipe'},
										autonomy={'found': Autonomy.Off},
										remapping={'type': 'objectType', 'state': 'objectState', 'pose': 'startCheckPosition', 'object_id': 'startCheckID'})

			# x:326 y:64
			OperatableStateMachine.add('MoveArmPipe',
										MoveArmDynState(),
										transitions={'reached': 'finished', 'sampling_failed': 'MoveArmPipe', 'planning_failed': 'MoveArmPipe', 'control_failed': 'MoveArmPipe'},
										autonomy={'reached': Autonomy.Off, 'sampling_failed': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off},
										remapping={'object_pose': 'startCheckPosition', 'object_type': 'armType', 'object_id': 'startCheckID'})


		return _state_machine

	def create(self):
		hello = "Hello World"
		# x:212 y:273, x:130 y:322
		_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])

		# Additional creation code can be added inside the following tags
		# [MANUAL_CREATE]
		
		# [/MANUAL_CREATE]


		with _state_machine:
			# x:93 y:66
			OperatableStateMachine.add('Initial_Wait',
										WaitState(wait_time=self.waiting_time),
										transitions={'done': 'Print_Greeting'},
										autonomy={'done': Autonomy.Off})

			# x:145 y:159
			OperatableStateMachine.add('Print_Greeting',
										LogState(text=hello, severity=Logger.REPORT_HINT),
										transitions={'done': 'finished'},
										autonomy={'done': Autonomy.High})


		return _state_machine

	def create(self):
		# x:30 y:365, x:130 y:365
		_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
		_state_machine.userdata.pose = PoseStamped()
		_state_machine.userdata.goalId = 'abc'

		# Additional creation code can be added inside the following tags
		# [MANUAL_CREATE]
		
		# [/MANUAL_CREATE]


		with _state_machine:
			# x:30 y:40
			OperatableStateMachine.add('Drive',
										Drive_to_new(),
										transitions={'succeeded': 'Wait'},
										autonomy={'succeeded': Autonomy.Off},
										remapping={'pose': 'pose'})

			# x:191 y:77
			OperatableStateMachine.add('Wait',
										Wait_DriveTo_new(useMoveBase=True),
										transitions={'succeeded': 'finished', 'aborted': 'failed', 'waiting': 'Wait'},
										autonomy={'succeeded': Autonomy.Off, 'aborted': Autonomy.Off, 'waiting': Autonomy.Off},
										remapping={'goalId': 'goalId'})


		return _state_machine

	def create(self):
		log_msg = "Hello World!"
		# x:83 y:390
		_state_machine = OperatableStateMachine(outcomes=['finished'])

		# Additional creation code can be added inside the following tags
		# [MANUAL_CREATE]
		
		# [/MANUAL_CREATE]


		with _state_machine:
			# x:52 y:78
			OperatableStateMachine.add('Print_Message',
										LogState(text=log_msg, severity=Logger.REPORT_HINT),
										transitions={'done': 'Wait_After_Logging'},
										autonomy={'done': Autonomy.Low})

			# x:40 y:228
			OperatableStateMachine.add('Wait_After_Logging',
										WaitState(wait_time=self.waiting_time),
										transitions={'done': 'finished'},
										autonomy={'done': Autonomy.Off})


		return _state_machine

    def create(self):
        # x:52 y:481, x:134 y:482
        _state_machine = OperatableStateMachine(outcomes=["finished", "failed"])
        _state_machine.userdata.pose = PoseStamped()
        _state_machine.userdata.startPoint = PoseStamped()
        _state_machine.userdata.endPoint = PoseStamped()
        _state_machine.userdata.switchFalse = False

        # Additional creation code can be added inside the following tags
        # [MANUAL_CREATE]

        # [/MANUAL_CREATE]

        with _state_machine:
            # x:31 y:51
            OperatableStateMachine.add(
                "SimpleMissionInitialize",
                self.use_behavior(SimpleMissionInitializeSM, "SimpleMissionInitialize"),
                transitions={"finished": "SimpleMissionDoAction"},
                autonomy={"finished": Autonomy.Inherit},
                remapping={"startPoint": "startPoint", "endPoint": "endPoint"},
            )

            # x:515 y:72
            OperatableStateMachine.add(
                "SimpleMissionDoAction",
                self.use_behavior(SimpleMissionDoActionSM, "SimpleMissionDoAction"),
                transitions={"finished": "DriveToStart", "failed": "SimpleMissionError"},
                autonomy={"finished": Autonomy.Inherit, "failed": Autonomy.Inherit},
            )

            # x:818 y:222
            OperatableStateMachine.add(
                "DriveToEnd",
                self.use_behavior(SimpleMissionDriveToSM, "DriveToEnd"),
                transitions={"finished": "SimpleMissionDoAction", "failed": "SimpleMissionError"},
                autonomy={"finished": Autonomy.Inherit, "failed": Autonomy.Inherit},
                remapping={"pose": "endPoint"},
            )

            # x:218 y:222
            OperatableStateMachine.add(
                "DriveToStart",
                self.use_behavior(SimpleMissionDriveToSM, "DriveToStart"),
                transitions={"finished": "DriveToEnd", "failed": "SimpleMissionError"},
                autonomy={"finished": Autonomy.Inherit, "failed": Autonomy.Inherit},
                remapping={"pose": "startPoint"},
            )

            # x:524 y:372
            OperatableStateMachine.add(
                "SimpleMissionError",
                self.use_behavior(SimpleMissionErrorSM, "SimpleMissionError"),
                transitions={"failed": "failed", "toStart": "DriveToStart", "toEnd": "DriveToEnd"},
                autonomy={"failed": Autonomy.Inherit, "toStart": Autonomy.Inherit, "toEnd": Autonomy.Inherit},
                remapping={"startPoint": "startPoint", "endPoint": "endPoint"},
            )

        return _state_machine

	def create(self):
		# x:52 y:481, x:134 y:482
		_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
		_state_machine.userdata.pose = PoseStamped()
		_state_machine.userdata.startPoint = PoseStamped()
		_state_machine.userdata.endPoint = PoseStamped()
		_state_machine.userdata.switchFalse = False

		# Additional creation code can be added inside the following tags
		# [MANUAL_CREATE]
		
		# [/MANUAL_CREATE]


		with _state_machine:
			# x:31 y:51
			OperatableStateMachine.add('SimpleMissionInitialize',
										self.use_behavior(SimpleMissionInitializeSM, 'SimpleMissionInitialize'),
										transitions={'finished': 'SimpleMissionDoAction'},
										autonomy={'finished': Autonomy.Inherit},
										remapping={'startPoint': 'startPoint', 'endPoint': 'endPoint'})

			# x:515 y:72
			OperatableStateMachine.add('SimpleMissionDoAction',
										self.use_behavior(SimpleMissionDoActionSM, 'SimpleMissionDoAction'),
										transitions={'finished': 'DriveToStart', 'failed': 'SimpleMissionError'},
										autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})

			# x:818 y:222
			OperatableStateMachine.add('DriveToEnd',
										self.use_behavior(SimpleMissionDriveToSM, 'DriveToEnd'),
										transitions={'finished': 'SimpleMissionDoAction', 'failed': 'SimpleMissionError'},
										autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
										remapping={'pose': 'endPoint'})

			# x:218 y:222
			OperatableStateMachine.add('DriveToStart',
										self.use_behavior(SimpleMissionDriveToSM, 'DriveToStart'),
										transitions={'finished': 'DriveToEnd', 'failed': 'SimpleMissionError'},
										autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
										remapping={'pose': 'startPoint'})

			# x:524 y:372
			OperatableStateMachine.add('SimpleMissionError',
										self.use_behavior(SimpleMissionErrorSM, 'SimpleMissionError'),
										transitions={'failed': 'failed', 'toStart': 'DriveToStart', 'toEnd': 'DriveToEnd'},
										autonomy={'failed': Autonomy.Inherit, 'toStart': Autonomy.Inherit, 'toEnd': Autonomy.Inherit},
										remapping={'startPoint': 'startPoint', 'endPoint': 'endPoint'})


		return _state_machine

	def create(self):
		pcl_topic = '/local_metric_map/metaroom'
		object_name = 'teabox'
		# x:183 y:440, x:383 y:190
		_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
		_state_machine.userdata.text_found = 'I found %s' % object_name
		_state_machine.userdata.text_not_found = 'I will continue my search'

		# Additional creation code can be added inside the following tags
		# [MANUAL_CREATE]
		
		# [/MANUAL_CREATE]


		with _state_machine:
			# x:47 y:28
			OperatableStateMachine.add('Perform_Sweep',
										MetricSweepState(sweep_type=MetricSweepState.SHORT),
										transitions={'sweeped': 'Store_Pointcloud', 'failed': 'failed'},
										autonomy={'sweeped': Autonomy.Off, 'failed': Autonomy.Off})

			# x:38 y:228
			OperatableStateMachine.add('Recognize_Object',
										RecognizeObjectState(object_name=object_name),
										transitions={'detected': 'Say_Found', 'not_detected': 'Say_Not_Found', 'failed': 'failed'},
										autonomy={'detected': Autonomy.Low, 'not_detected': Autonomy.Low, 'failed': Autonomy.Full},
										remapping={'pointcloud': 'pointcloud'})

			# x:44 y:328
			OperatableStateMachine.add('Say_Found',
										SpeechOutputState(),
										transitions={'done': 'finished', 'failed': 'failed'},
										autonomy={'done': Autonomy.Off, 'failed': Autonomy.Full},
										remapping={'text': 'text_found'})

			# x:244 y:278
			OperatableStateMachine.add('Say_Not_Found',
										SpeechOutputState(),
										transitions={'done': 'finished', 'failed': 'failed'},
										autonomy={'done': Autonomy.Off, 'failed': Autonomy.Full},
										remapping={'text': 'text_not_found'})

			# x:41 y:128
			OperatableStateMachine.add('Store_Pointcloud',
										StorePointcloudState(topic=pcl_topic),
										transitions={'done': 'Recognize_Object'},
										autonomy={'done': Autonomy.Off},
										remapping={'pointcloud': 'pointcloud'})


		return _state_machine

	def create(self):
		# x:833 y:90, x:583 y:490
		_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])

		# Additional creation code can be added inside the following tags
		# [MANUAL_CREATE]
		
		# [/MANUAL_CREATE]


		with _state_machine:
			# x:37 y:78
			OperatableStateMachine.add('Ask_If_Wide_Stance',
										OperatorDecisionState(outcomes=['wide_stance', 'just_stand'], hint="Do you want to go to wide stance?", suggestion='wide_stance'),
										transitions={'wide_stance': 'Plan_To_Wide_Stance', 'just_stand': 'Set_Manipulate'},
										autonomy={'wide_stance': Autonomy.Low, 'just_stand': Autonomy.Full})

			# x:274 y:278
			OperatableStateMachine.add('Go_To_Wide_Stance',
										ExecuteStepPlanActionState(),
										transitions={'finished': 'Wait_For_Stand', 'failed': 'failed'},
										autonomy={'finished': Autonomy.Low, 'failed': Autonomy.Low},
										remapping={'footstep_plan': 'plan_wide_stance'})

			# x:19 y:278
			OperatableStateMachine.add('Plan_To_Wide_Stance',
										FootstepPlanWideStanceState(),
										transitions={'planned': 'Go_To_Wide_Stance', 'failed': 'failed'},
										autonomy={'planned': Autonomy.Low, 'failed': Autonomy.Low},
										remapping={'footstep_plan': 'plan_wide_stance'})

			# x:566 y:78
			OperatableStateMachine.add('Set_Manipulate',
										ChangeControlModeActionState(target_mode=ChangeControlModeActionState.MANIPULATE),
										transitions={'changed': 'finished', 'failed': 'failed'},
										autonomy={'changed': Autonomy.Low, 'failed': Autonomy.Low})

			# x:266 y:178
			OperatableStateMachine.add('Wait_For_Stand',
										CheckCurrentControlModeState(target_mode=CheckCurrentControlModeState.STAND, wait=True),
										transitions={'correct': 'Set_Manipulate', 'incorrect': 'failed'},
										autonomy={'correct': Autonomy.Low, 'incorrect': Autonomy.Full},
										remapping={'control_mode': 'control_mode'})


		return _state_machine

	def create(self):
		# x:30 y:365, x:130 y:365
		_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])

		# Additional creation code can be added inside the following tags
		# [MANUAL_CREATE]
		
		# [/MANUAL_CREATE]


		with _state_machine:
			# x:30 y:40
			OperatableStateMachine.add('abc',
										ExampleState(target_time=1),
										transitions={'continue': 'finished', 'failed': 'failed'},
										autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})


		return _state_machine

	def create(self):
		# x:30 y:365, x:130 y:365
		_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])

		# Additional creation code can be added inside the following tags
		# [MANUAL_CREATE]
		
		# [/MANUAL_CREATE]


		with _state_machine:
			# x:30 y:40
			OperatableStateMachine.add('Test',
										DrivepathTest(),
										transitions={'reached': 'finished', 'failed': 'failed'},
										autonomy={'reached': Autonomy.Off, 'failed': Autonomy.Off})


		return _state_machine

	def create(self):
		# x:30 y:365
		_state_machine = OperatableStateMachine(outcomes=['finished'])

		# Additional creation code can be added inside the following tags
		# [MANUAL_CREATE]
		
		# [/MANUAL_CREATE]


		with _state_machine:
			# x:66 y:154
			OperatableStateMachine.add('Print_Msg',
										LogState(text="My param is: " + self.msg, severity=Logger.REPORT_HINT),
										transitions={'done': 'finished'},
										autonomy={'done': Autonomy.Off})


		return _state_machine