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* add state machine state_machine test state_machine_update * add state machine test/doc * state machine update * state machine generate_plantuml() can show diagram by using https://www.plantuml.com/plantuml/
112 lines
3.2 KiB
Python
112 lines
3.2 KiB
Python
"""
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A case study of robot behavior using state machine
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author: Wang Zheng (@Aglargil)
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"""
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from state_machine import StateMachine
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class Robot:
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def __init__(self):
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self.battery = 100
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self.task_progress = 0
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# Initialize state machine
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self.machine = StateMachine("robot_sm", self)
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# Add state transition rules
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self.machine.add_transition(
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src_state="patrolling",
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event="detect_task",
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dst_state="executing_task",
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guard=None,
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action=None,
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)
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self.machine.add_transition(
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src_state="executing_task",
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event="task_complete",
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dst_state="patrolling",
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guard=None,
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action="reset_task",
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)
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self.machine.add_transition(
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src_state="executing_task",
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event="low_battery",
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dst_state="returning_to_base",
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guard="is_battery_low",
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)
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self.machine.add_transition(
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src_state="returning_to_base",
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event="reach_base",
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dst_state="charging",
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guard=None,
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action=None,
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)
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self.machine.add_transition(
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src_state="charging",
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event="charge_complete",
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dst_state="patrolling",
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guard=None,
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action="battery_full",
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)
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# Set initial state
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self.machine.set_current_state("patrolling")
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def is_battery_low(self):
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"""Battery level check condition"""
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return self.battery < 30
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def reset_task(self):
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"""Reset task progress"""
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self.task_progress = 0
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print("[Action] Task progress has been reset")
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# Modify state entry callback naming convention (add state_ prefix)
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def on_enter_executing_task(self):
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print("\n------ Start Executing Task ------")
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print(f"Current battery: {self.battery}%")
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while self.machine.get_current_state().name == "executing_task":
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self.task_progress += 10
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self.battery -= 25
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print(
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f"Task progress: {self.task_progress}%, Remaining battery: {self.battery}%"
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)
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if self.task_progress >= 100:
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self.machine.process("task_complete")
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break
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elif self.is_battery_low():
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self.machine.process("low_battery")
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break
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def on_enter_returning_to_base(self):
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print("\nLow battery, returning to charging station...")
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self.machine.process("reach_base")
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def on_enter_charging(self):
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print("\n------ Charging ------")
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self.battery = 100
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print("Charging complete!")
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self.machine.process("charge_complete")
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# Keep the test section structure the same, only modify the trigger method
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if __name__ == "__main__":
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robot = Robot()
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print(robot.machine.generate_plantuml())
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print(f"Initial state: {robot.machine.get_current_state().name}")
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print("------------")
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# Trigger task detection event
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robot.machine.process("detect_task")
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print("\n------------")
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print(f"Final state: {robot.machine.get_current_state().name}")
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