/// <summary>
/// Creates the SM of the primite action: Take-Object
/// </summary>
/// <param name="brain">HAL9000Brain instance</param>
/// <param name="cmdMan">HAL9000CmdMan instance</param>
/// <param name="objectToTake">Name of the object to take. Default: empty string.</param>
public NavigateTo(HAL9000Brain brain, HAL9000CmdMan cmdMan, GPSR_WORLD SMConfiguration, string locationToReach = "")
{
this.brain = brain;
this.cmdMan = cmdMan;
finalStatus = Status.Ready;
this.SMConfiguration = SMConfiguration;
this.locationToReach = locationToReach;
navigSucceded = "I reach the location.";
navigFailed = "I can't reach the location.";
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, InitialState));
SM.AddState(new FunctionState((int)States.RiseArms, RiseArms));
SM.AddState(new FunctionState((int)States.Navigate, Navigate));
SM.AddState(new FunctionState((int)States.Navigate_Succeeded, Navigate_Succeeded));
SM.AddState(new FunctionState((int)States.Navigate_Failed, Navigate_Failed));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
public SM_SearchAndTakeObject(HAL9000Brain brain, HAL9000CmdMan cmdMan, bool anyObject, string ObjectToFind, bool useHandOver)
{
SM = new FunctionBasedStateMachine();
this.brain = brain;
this.cmdMan = cmdMan;
this.attemptCounter = 0;
this.searchAttemptCounter = 0;
this.finalState = FinalStates.StillRunning;
this.objectsFound = new List<string>();
this.useTakeHandOver = useHandOver;
this.anyObject = anyObject;
if (anyObject)
this.ObjectToFind = "objects";
else
this.ObjectToFind = ObjectToFind;
this.foundObject = ObjectToFind;
SM.AddState(new FunctionState((int)States.SearchCloseObjects, new SMStateFuncion(SearchCloseObjects)));
SM.AddState(new FunctionState((int)States.SetObjectToTake, new SMStateFuncion(SetObjectToTake)));
SM.AddState(new FunctionState((int)States.TakeObject, new SMStateFuncion(TakeObject)));
SM.AddState(new FunctionState((int)States.FinalState, new SMStateFuncion(FinalState)));
SM.SetFinalState((int)States.FinalState);
}
public SM_TakeObject(HAL9000Brain brain, HAL9000CmdMan cmdMan, bool anyObject, string ObjectToFind, string objectLocation, bool succesGetClose)
{
SM = new FunctionBasedStateMachine();
this.brain = brain;
this.cmdMan = cmdMan;
this.objectLocation = objectLocation;
attemptCounter = 0;
this.finalState = FinalStates.StillRunning;
this.anyObject = anyObject;
if (anyObject)
this.ObjectToFind = ObjectToFind;
else
this.ObjectToFind = "objects";
this.foundObject = ObjectToFind;
this.succesGetClose = succesGetClose;
SM.AddState(new FunctionState((int)States.GetCloseObjectLocation, new SMStateFuncion(GetCloseObjectLocation)));
SM.AddState(new FunctionState((int)States.SearchCloseObjects, new SMStateFuncion(SearchCloseObjects)));
SM.AddState(new FunctionState((int)States.TakeObject, new SMStateFuncion(TakeObject)));
SM.AddState(new FunctionState((int)States.FinalState, new SMStateFuncion(FinalState)));
SM.SetFinalState((int)States.FinalState);
}
public SM_TakeObject(HAL9000Brain brain, HAL9000CmdMan cmdMan, bool anyObject, string ObjectToFind, string objectLocation, bool succesGetClose)
{
SM = new FunctionBasedStateMachine();
this.brain = brain;
this.cmdMan = cmdMan;
this.objectLocation = objectLocation;
attemptCounter = 0;
this.finalState = FinalStates.StillRunning;
this.anyObject = anyObject;
if (anyObject)
{
this.ObjectToFind = ObjectToFind;
}
else
{
this.ObjectToFind = "objects";
}
this.foundObject = ObjectToFind;
this.succesGetClose = succesGetClose;
SM.AddState(new FunctionState((int)States.GetCloseObjectLocation, new SMStateFuncion(GetCloseObjectLocation)));
SM.AddState(new FunctionState((int)States.SearchCloseObjects, new SMStateFuncion(SearchCloseObjects)));
SM.AddState(new FunctionState((int)States.TakeObject, new SMStateFuncion(TakeObject)));
SM.AddState(new FunctionState((int)States.FinalState, new SMStateFuncion(FinalState)));
SM.SetFinalState((int)States.FinalState);
}
public SM_SearchAndTakeObject(HAL9000Brain brain, HAL9000CmdMan cmdMan, bool anyObject, string ObjectToFind, bool useHandOver)
{
SM = new FunctionBasedStateMachine();
this.brain = brain;
this.cmdMan = cmdMan;
this.attemptCounter = 0;
this.searchAttemptCounter = 0;
this.finalState = FinalStates.StillRunning;
this.objectsFound = new List <string>();
this.useTakeHandOver = useHandOver;
this.anyObject = anyObject;
if (anyObject)
{
this.ObjectToFind = "objects";
}
else
{
this.ObjectToFind = ObjectToFind;
}
this.foundObject = ObjectToFind;
SM.AddState(new FunctionState((int)States.SearchCloseObjects, new SMStateFuncion(SearchCloseObjects)));
SM.AddState(new FunctionState((int)States.SetObjectToTake, new SMStateFuncion(SetObjectToTake)));
SM.AddState(new FunctionState((int)States.TakeObject, new SMStateFuncion(TakeObject)));
SM.AddState(new FunctionState((int)States.FinalState, new SMStateFuncion(FinalState)));
SM.SetFinalState((int)States.FinalState);
}
/// <summary>
/// Creates a state machine for the test.
/// </summary>
/// <param name="brain">HAL9000Brain instance</param>
/// <param name="cmdMan">HAL9000CmdMan instance</param>
public Restaurant(HAL9000Brain brain, HAL9000CmdMan cmdMan)
{
this.brain = brain;
this.cmdMan = cmdMan;
tableCommandRecognized = false;
kitchenCommandRecognized = false;
tablesToVisit = new Queue <MapLocation>();
finalStatus = Status.Ready;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, InitialState));
SM.AddState(new FunctionState((int)States.FollowHuman, FollowHuman));
SM.AddState(new FunctionState((int)States.WaitForLocationCommand, WaitForLocationCommand));
SM.AddState(new FunctionState((int)States.WaitForLocationConfirmation, WaitForLocationConfirmation));
SM.AddState(new FunctionState((int)States.WaitForTableDirectionCommand, WaitForTableDirectionCommand));
SM.AddState(new FunctionState((int)States.WaitForTableDirectionConfirmation, WaitForTableDirectionConfirmation));
SM.AddState(new FunctionState((int)States.WaitForOrderingCommand, WaitForOrderingCommand));
SM.AddState(new FunctionState((int)States.WaitForOrderTableConfirmation, WaitForOrderTableConfirmation));
SM.AddState(new FunctionState((int)States.GoToOrderTable, GoToOrderTable));
SM.AddState(new FunctionState((int)States.TakeOrder, TakeOrder));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
/// <summary>
/// Creates the SM of the primite action: Take-Object
/// </summary>
/// <param name="brain">HAL9000Brain instance</param>
/// <param name="cmdMan">HAL9000CmdMan instance</param>
/// <param name="objectToTake">Name of the object to take. Default: empty string.</param>
public NavigateTo(HAL9000Brain brain, HAL9000CmdMan cmdMan, GPSR_WORLD SMConfiguration, string locationToReach = "")
{
this.brain = brain;
this.cmdMan = cmdMan;
finalStatus = Status.Ready;
this.SMConfiguration = SMConfiguration;
this.locationToReach = locationToReach;
navigSucceded = "I reach the location.";
navigFailed = "I can't reach the location.";
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, InitialState));
SM.AddState(new FunctionState((int)States.RiseArms, RiseArms));
SM.AddState(new FunctionState((int)States.Navigate, Navigate));
SM.AddState(new FunctionState((int)States.Navigate_Succeeded, Navigate_Succeeded));
SM.AddState(new FunctionState((int)States.Navigate_Failed, Navigate_Failed));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
public SM_SearchAndTakeObject(HAL9000Brain brain, HAL9000CmdMan cmdMan, bool anyObject, string [] objectsToFind, bool useHandOver, int searchAttempts = 2, bool twoArms = false)
{
SM = new FunctionBasedStateMachine();
this.brain = brain;
this.cmdMan = cmdMan;
this.attemptCounter = 0;
this.searchAttemptCounter = 0;
this.searchAttempts = searchAttempts;
this.finalState = FinalStates.StillRunning;
this.twoArms = twoArms;
this.takeCounter = 0;
this.firstObjectTaken = false;
/**********************/
this.laTaken = false;
this.armToUse = "";
this.objectsFound = new List <string>();
this.useTakeHandOver = useHandOver;
this.objectsToFind = new string[2];
this.foundObjects = new string[2];
this.armsOrder = new string[2];
this.foundObjects[0] = "";
this.foundObjects[1] = "";
this.armsOrder[0] = "";
this.armsOrder[1] = "";
this.anyObject = anyObject;
if (anyObject)
{
//this.ObjectToFind = "objects";
this.objectsToFind[0] = "objects";
this.objectsToFind[1] = "";
}
else
{
this.objectsToFind[0] = objectsToFind[0];
this.objectsToFind[1] = objectsToFind[1];
}
//this.objectsToTake = new string[2];
//this.objectsToTake[0] = "";
//this.objectsToTake[1] = "";
//this.foundObjects = new string[2];
//this.foundObjects[0] = ObjectToFind;
//this.foundObjects[1] = "";
//objectsToTake = new string[2];
SM.AddState(new FunctionState((int)States.SearchCloseObjects, new SMStateFuncion(SearchCloseObjects)));
SM.AddState(new FunctionState((int)States.SetObjectToTake, new SMStateFuncion(SetObjectToTake)));
SM.AddState(new FunctionState((int)States.TakeObject, new SMStateFuncion(TakeObject)));
SM.AddState(new FunctionState((int)States.FinalState, new SMStateFuncion(FinalState)));
SM.SetFinalState((int)States.FinalState);
}
public SM_SearchAndTakeObject(HAL9000Brain brain, HAL9000CmdMan cmdMan, bool anyObject, string [] objectsToFind, bool useHandOver, int searchAttempts = 2, bool twoArms=false)
{
SM = new FunctionBasedStateMachine();
this.brain = brain;
this.cmdMan = cmdMan;
this.attemptCounter = 0;
this.searchAttemptCounter = 0;
this.searchAttempts = searchAttempts;
this.finalState = FinalStates.StillRunning;
this.twoArms = twoArms;
this.takeCounter = 0;
this.firstObjectTaken=false;
/**********************/
this.laTaken = false;
this.armToUse = "";
this.objectsFound = new List<string>();
this.useTakeHandOver = useHandOver;
this.objectsToFind = new string[2];
this.foundObjects = new string[2];
this.armsOrder = new string[2];
this.foundObjects[0] = "";
this.foundObjects[1] = "";
this.armsOrder[0] = "";
this.armsOrder[1] = "";
this.anyObject = anyObject;
if (anyObject)
{
//this.ObjectToFind = "objects";
this.objectsToFind[0] = "objects";
this.objectsToFind[1] = "";
}
else
{
this.objectsToFind[0] = objectsToFind[0];
this.objectsToFind[1] = objectsToFind[1];
}
//this.objectsToTake = new string[2];
//this.objectsToTake[0] = "";
//this.objectsToTake[1] = "";
//this.foundObjects = new string[2];
//this.foundObjects[0] = ObjectToFind;
//this.foundObjects[1] = "";
//objectsToTake = new string[2];
SM.AddState(new FunctionState((int)States.SearchCloseObjects, new SMStateFuncion(SearchCloseObjects)));
SM.AddState(new FunctionState((int)States.SetObjectToTake, new SMStateFuncion(SetObjectToTake)));
SM.AddState(new FunctionState((int)States.TakeObject, new SMStateFuncion(TakeObject)));
SM.AddState(new FunctionState((int)States.FinalState, new SMStateFuncion(FinalState)));
SM.SetFinalState((int)States.FinalState);
}
/// <summary>
/// Creates a state machine to enter the arena up to a location known by the motion planner.
/// </summary>
/// <param name="brain">A HAL9000Brain instance</param>
/// <param name="location">A location known by the motion planner where the robot should try to go when entering the arena.</param>
public SM_WaitForRequest(HAL9000Brain brain, HAL9000CmdMan cmdMan)
{
this.brain = brain;
this.cmdMan = cmdMan;
this.attemptCounter = 0;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, new SMStateFuncion(InitialState)));
SM.AddState(new FunctionState((int)States.SearchRequest, new SMStateFuncion(SearchRequest)));
SM.AddState(new FunctionState((int)States.GoToRequest, new SMStateFuncion(GoToRequest)));
SM.AddState(new FunctionState((int)States.FinalState, new SMStateFuncion(FinalState), true));
SM.SetFinalState((int)States.FinalState);
finalState = FinalStates.StillRunning;
}
/// <summary>
/// Creates a state machine to enter the arena up to a location known by the motion planner.
/// </summary>
/// <param name="brain">A HAL9000Brain instance</param>
/// <param name="location">A location known by the motion planner where the robot should try to go when entering the arena.</param>
public SM_WaitForRequest(HAL9000Brain brain, HAL9000CmdMan cmdMan)
{
this.brain = brain;
this.cmdMan = cmdMan;
this.attemptCounter = 0;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, new SMStateFuncion(InitialState)));
SM.AddState(new FunctionState((int)States.SearchRequest, new SMStateFuncion(SearchRequest)));
SM.AddState(new FunctionState((int)States.GoToRequest, new SMStateFuncion(GoToRequest)));
SM.AddState(new FunctionState((int)States.FinalState, new SMStateFuncion(FinalState), true));
SM.SetFinalState((int)States.FinalState);
finalState = FinalStates.StillRunning;
}
/// <summary>
/// Creates a state machine to enter the arena up to a location known by the motion planner.
/// </summary>
/// <param name="brain">A HAL9000Brain instance</param>
/// <param name="location">A location known by the motion planner where the robot should try to go when entering the arena.</param>
/// <param name="tryToOpenDoor">A boolean indicating whether the robot should try to open the door on its own or ask for help directly.</param>
public SM_EnterArena(HAL9000Brain brain, HAL9000CmdMan cmdMan, string location, bool tryToOpenDoor)
{
this.brain = brain;
this.cmdMan = cmdMan;
this.location = location;
this.finalState = FinalStates.StillRunning;
this.attemptCounter = 0;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, new SMStateFuncion(InitialState)));
SM.AddState(new FunctionState((int)States.WaitForDoorToBeOpened, new SMStateFuncion(WaitForDoorToBeOpened)));
SM.AddState(new FunctionState((int)States.EnterArena, new SMStateFuncion(EnterArena)));
SM.AddState(new FunctionState((int)States.FinalState, new SMStateFuncion(FinalState), true));
SM.SetFinalState((int)States.FinalState);
}
/// <summary>
/// Creates a state machine for the Navigation test.
/// </summary>
/// <param name="brain">HAL9000Brain instance</param>
/// <param name="cmdMan">HAL9000CmdMan instance</param>
public NavigationTest(HAL9000Brain brain, HAL9000CmdMan cmdMan)
{
this.brain = brain;
this.cmdMan = cmdMan;
finalStatus = Status.Ready;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, InitialState));
//TODO: Link States-enum whith States-Methods here
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
/// <summary>
/// Creates a state machine to enter the arena up to a location known by the motion planner.
/// </summary>
/// <param name="brain">A HAL9000Brain instance</param>
/// <param name="location">A location known by the motion planner where the robot should try to go when entering the arena.</param>
public SM_DetectWaving(HAL9000Brain brain, HAL9000CmdMan cmdMan, double headAngle, double headPan)
{
this.brain = brain;
this.cmdMan = cmdMan;
this.headAngle = headAngle;
this.headPan = headPan;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, new SMStateFuncion(InitialState)));
SM.AddState(new FunctionState((int)States.SearchWaving, new SMStateFuncion(SearchWaving)));
SM.AddState(new FunctionState((int)States.FinalState, new SMStateFuncion(FinalState), true));
SM.SetFinalState((int)States.FinalState);
finalState = FinalStates.StillRunning;
}
/// <summary>
/// Creates a state machine to enter the arena up to a location known by the motion planner.
/// </summary>
/// <param name="brain">A HAL9000Brain instance</param>
/// <param name="location">A location known by the motion planner where the robot should try to go when entering the arena.</param>
public SM_DetectWaving(HAL9000Brain brain, HAL9000CmdMan cmdMan, double headAngle, double headPan)
{
this.brain = brain;
this.cmdMan = cmdMan;
this.headAngle = headAngle;
this.headPan = headPan;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, new SMStateFuncion(InitialState)));
SM.AddState(new FunctionState((int)States.SearchWaving, new SMStateFuncion(SearchWaving)));
SM.AddState(new FunctionState((int)States.FinalState, new SMStateFuncion(FinalState), true));
SM.SetFinalState((int)States.FinalState);
finalState = FinalStates.StillRunning;
}
/// <summary>
/// Creates a state machine to enter the arena up to a location known by the motion planner.
/// </summary>
/// <param name="brain">A HAL9000Brain instance</param>
/// <param name="location">A location known by the motion planner where the robot should try to go when entering the arena.</param>
public SM_DetectPersonFall(HAL9000Brain brain, HAL9000CmdMan cmdMan)
{
this.brain = brain;
this.cmdMan = cmdMan;
timer = new System.Diagnostics.Stopwatch();
fallDetected = false;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, new SMStateFuncion(InitialState)));
SM.AddState(new FunctionState((int)States.SearchFall, new SMStateFuncion(SearchFall)));
SM.AddState(new FunctionState((int)States.GoToFall, new SMStateFuncion(GoToFall)));
SM.AddState(new FunctionState((int)States.FinalState, new SMStateFuncion(FinalState), true));
SM.SetFinalState((int)States.FinalState);
finalState = FinalStates.StillRunning;
}
/// <summary>
/// Creates a state machine to enter the arena up to a location known by the motion planner.
/// </summary>
/// <param name="brain">A HAL9000Brain instance</param>
/// <param name="location">A location known by the motion planner where the robot should try to go when entering the arena.</param>
public SM_DetectPersonFall(HAL9000Brain brain, HAL9000CmdMan cmdMan)
{
this.brain = brain;
this.cmdMan = cmdMan;
timer = new System.Diagnostics.Stopwatch();
fallDetected = false;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, new SMStateFuncion(InitialState)));
SM.AddState(new FunctionState((int)States.SearchFall, new SMStateFuncion(SearchFall)));
SM.AddState(new FunctionState((int)States.GoToFall, new SMStateFuncion(GoToFall)));
SM.AddState(new FunctionState((int)States.FinalState, new SMStateFuncion(FinalState), true));
SM.SetFinalState((int)States.FinalState);
finalState = FinalStates.StillRunning;
}
/// <summary>
/// Creates a state machine to enter the arena up to a location known by the motion planner.
/// </summary>
/// <param name="brain">A HAL9000Brain instance</param>
/// <param name="location">A location known by the motion planner where the robot should try to go when entering the arena.</param>
/// <param name="tryToOpenDoor">A boolean indicating whether the robot should try to open the door on its own or ask for help directly.</param>
public SM_EnterArena(HAL9000Brain brain, HAL9000CmdMan cmdMan, string location, bool tryToOpenDoor)
{
this.brain = brain;
this.cmdMan = cmdMan;
this.location = location;
this.finalState = FinalStates.StillRunning;
this.attemptCounter = 0;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, new SMStateFuncion(InitialState)));
SM.AddState(new FunctionState((int)States.WaitForDoorToBeOpened, new SMStateFuncion(WaitForDoorToBeOpened)));
SM.AddState(new FunctionState((int)States.EnterArena, new SMStateFuncion(EnterArena)));
SM.AddState(new FunctionState((int)States.FinalState, new SMStateFuncion(FinalState), true));
SM.SetFinalState((int)States.FinalState);
}
/// <summary>
/// Creates a state machine for the Manipulation test.
/// </summary>
/// <param name="brain">HAL9000Brain instance</param>
/// <param name="cmdMan">HAL9000CmdMan instance</param>
public ManipulationTest(HAL9000Brain brain, HAL9000CmdMan cmdMan)
{
this.brain = brain;
this.cmdMan = cmdMan;
finalStatus = Status.Ready;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, InitialState));
//TODO: Link States-enum whith States-Methods here
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
public SM_FollowHuman(HAL9000Brain brain, HAL9000CmdMan cmdman)
{
this.brain = brain;
this.cmdMan = cmdman;
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Ejecutando prueba de seguimiento");
this.brain.Status.TestBeingExecuted = "Fllw1";
this.brain.OnStatusChanged(new HAL9000StatusArgs(this.brain.Status));
this.finalState = FinalStates.StillRunning;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.SubiendoMisBrazos, SubiendoMisBrazos));
SM.AddState(new FunctionState((int)States.EsperandoPersonaEnFrente, EsperandoPersonaEnFrente));
SM.AddState(new FunctionState((int)States.SensandoPersona, SensandoPersona));
SM.AddState(new FunctionState((int)States.PersiguiendoPersona, PersiguiendoPersona));
SM.AddState(new FunctionState((int)States.AntesDeTerminar, AntesDeTerminar, true));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
public SM_FollowHuman(HAL9000Brain brain, HAL9000CmdMan cmdman)
{
this.brain = brain;
this.cmdMan = cmdman;
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Ejecutando prueba de seguimiento");
this.brain.Status.TestBeingExecuted = "Fllw1";
this.brain.OnStatusChanged(new HAL9000StatusArgs(this.brain.Status));
this.finalState = FinalStates.StillRunning;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.SubiendoMisBrazos, SubiendoMisBrazos));
SM.AddState(new FunctionState((int)States.EsperandoPersonaEnFrente, EsperandoPersonaEnFrente));
SM.AddState(new FunctionState((int)States.SensandoPersona, SensandoPersona));
SM.AddState(new FunctionState((int)States.PersiguiendoPersona, PersiguiendoPersona));
SM.AddState(new FunctionState((int)States.AntesDeTerminar, AntesDeTerminar, true));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
public SM_TakeTray(HAL9000Brain brain, HAL9000CmdMan cmdMan, double height)
{
SM = new FunctionBasedStateMachine();
this.brain = brain;
this.cmdMan = cmdMan;
distance = 0;
this.height = height;
headPan = 0;
headTilt = -1.1;
percent = 50;
this.finalState = FinalStates.StillRunning;
SM.AddState(new FunctionState((int)States.LineTable,LineTable));
SM.AddState(new FunctionState((int)States.TakeTray, TakeTray));
SM.AddState(new FunctionState((int)States.FinalState, FinalState,true));
SM.SetFinalState((int)States.FinalState);
}
/// <summary>
/// Creates a state machine for the Navigation test.
/// </summary>
/// <param name="brain">HAL9000Brain instance</param>
/// <param name="cmdMan">HAL9000CmdMan instance</param>
public GraspCereal(HAL9000Brain brain, HAL9000CmdMan cmdMan)
{
this.brain = brain;
this.cmdMan = cmdMan;
finalStatus = Status.Ready;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, InitialState));
//TODO: Link States-enum whith States-Methods here
SM.AddState(new FunctionState((int)States.PerformAction, PerformAction));
SM.AddState(new FunctionState((int)States.FindPerson, FindPerson));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
public SM_TakeTray(HAL9000Brain brain, HAL9000CmdMan cmdMan, double height)
{
SM = new FunctionBasedStateMachine();
this.brain = brain;
this.cmdMan = cmdMan;
distance = 0;
this.height = height;
headPan = 0;
headTilt = -1.1;
percent = 50;
this.finalState = FinalStates.StillRunning;
SM.AddState(new FunctionState((int)States.LineTable, LineTable));
SM.AddState(new FunctionState((int)States.TakeTray, TakeTray));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
/// <summary>
/// Creates the SM of the primite action: Take-Object
/// </summary>
/// <param name="brain">HAL9000Brain instance</param>
/// <param name="cmdMan">HAL9000CmdMan instance</param>
/// <param name="objectToTake">Name of the object to take. Default: empty string.</param>
public TellPhrase(HAL9000Brain brain, HAL9000CmdMan cmdMan, GPSR_WORLD SMConfiguration, string phrase)
{
this.brain = brain;
this.cmdMan = cmdMan;
finalStatus = Status.Ready;
this.SMConfiguration = SMConfiguration;
this.phraseToTell = phrase;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, InitialState));
SM.AddState(new FunctionState((int)States.StateTellPhrase, StateTellPhrase));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
/// <summary>
/// Creates the SM of the primite action: Take-Object
/// </summary>
/// <param name="brain">HAL9000Brain instance</param>
/// <param name="cmdMan">HAL9000CmdMan instance</param>
/// <param name="objectToTake">Name of the object to take. Default: empty string.</param>
public TellPhrase(HAL9000Brain brain, HAL9000CmdMan cmdMan, GPSR_WORLD SMConfiguration, string phrase)
{
this.brain = brain;
this.cmdMan = cmdMan;
finalStatus = Status.Ready;
this.SMConfiguration = SMConfiguration;
this.phraseToTell = phrase;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, InitialState));
SM.AddState(new FunctionState((int)States.StateTellPhrase, StateTellPhrase));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
/// <summary>
/// Creates a state machine to enter the arena up to a location known by the motion planner.
/// </summary>
/// <param name="brain">A HAL9000Brain instance</param>
/// <param name="location">A location known by the motion planner where the robot should try to go when entering the arena.</param>
public SM_SimpleIdentifyPerson(HAL9000Brain brain, HAL9000CmdMan cmdMan, bool startIdentifyPerson, string[] knownPersons, string defaultName, List <string> rejectedNames)
{
this.brain = brain;
this.cmdMan = cmdMan;
this.startIdentifyPerson = startIdentifyPerson;
this.defaultName = defaultName;
this.knownPersons = knownPersons;
this.rejectedNames = rejectedNames;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, new SMStateFuncion(InitialState)));
SM.AddState(new FunctionState((int)States.SpeachToHuman, new SMStateFuncion(SpeachToHuman)));
SM.AddState(new FunctionState((int)States.FindHuman, new SMStateFuncion(FindHuman)));
SM.AddState(new FunctionState((int)States.AskForName, new SMStateFuncion(AskForName)));
SM.AddState(new FunctionState((int)States.AsociateName, new SMStateFuncion(AsociateName)));
SM.AddState(new FunctionState((int)States.FinalState, new SMStateFuncion(FinalState), true));
SM.SetFinalState((int)States.FinalState);
finalState = FinalStates.StillRunning;
}
/// <summary>
/// Creates a state machine for the test.
/// </summary>
/// <param name="brain">HAL9000Brain instance</param>
/// <param name="cmdMan">HAL9000CmdMan instance</param>
public GPSR(HAL9000Brain brain, HAL9000CmdMan cmdMan)
{
this.brain = brain;
this.cmdMan = cmdMan;
finalStatus = Status.Ready;
second_confirmation = false;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, InitialState));
//TODO: Link States-enum whith States-Methods here
SM.AddState(new FunctionState((int)States.EnterArena, EnterArena));
SM.AddState(new FunctionState((int)States.WaitForQuestion, WaitForQuestion));
SM.AddState(new FunctionState((int)States.PerformAction, PerformAction));
SM.AddState(new FunctionState((int)States.LeaveArena, LeaveArena));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
/// <summary>
/// Creates a state machine to enter the arena up to a location known by the motion planner.
/// </summary>
/// <param name="brain">A HAL9000Brain instance</param>
/// <param name="location">A location known by the motion planner where the robot should try to go when entering the arena.</param>
public SM_SimpleIdentifyPerson(HAL9000Brain brain, HAL9000CmdMan cmdMan, bool startIdentifyPerson, string[] knownPersons, string defaultName, List<string> rejectedNames)
{
this.brain = brain;
this.cmdMan = cmdMan;
this.startIdentifyPerson = startIdentifyPerson;
this.defaultName = defaultName;
this.knownPersons = knownPersons;
this.rejectedNames = rejectedNames;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, new SMStateFuncion(InitialState)));
SM.AddState(new FunctionState((int)States.SpeachToHuman, new SMStateFuncion(SpeachToHuman)));
SM.AddState(new FunctionState((int)States.FindHuman, new SMStateFuncion(FindHuman)));
SM.AddState(new FunctionState((int)States.AskForName, new SMStateFuncion(AskForName)));
SM.AddState(new FunctionState((int)States.AsociateName, new SMStateFuncion(AsociateName)));
SM.AddState(new FunctionState((int)States.FinalState, new SMStateFuncion(FinalState), true));
SM.SetFinalState((int)States.FinalState);
finalState = FinalStates.StillRunning;
}
/// <summary>
/// Creates a state machine to navigate to a predefined MVN-PLN location.
/// </summary>
/// <param name="brain">HAL9000Brain instance</param>
/// <param name="cmdMan">HAL9000CmdMan instance</param>
public DefaultStateMachineSM(HAL9000Brain brain, HAL9000CmdMan cmdMan)
{
this.brain = brain;
this.cmdMan = cmdMan;
finalStatus = Status.Ready;
attemptCounter = 0;
objectTaken = false;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, InitialState));
SM.AddState(new FunctionState((int)States.EnterArena, EnterArena));
SM.AddState(new FunctionState((int)States.GetCloseToTable, GetCloseToTable));
SM.AddState(new FunctionState((int)States.DropObject, DropObject));
SM.AddState(new FunctionState((int)States.LeaveArena, LeaveArena));
SM.AddState(new FunctionState((int)States.SearchAndTakeObject, SearchAndTakeObject));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
/// <summary>
/// Creates the SM of the primite action: Take-Object
/// </summary>
/// <param name="brain">HAL9000Brain instance</param>
/// <param name="cmdMan">HAL9000CmdMan instance</param>
/// <param name="objectToTake">Name of the object to take. Default: empty string.</param>
public AnswerQuestion(HAL9000Brain brain, HAL9000CmdMan cmdMan, GPSR_WORLD SMConfiguration)
{
this.brain = brain;
this.cmdMan = cmdMan;
finalStatus = Status.Ready;
attemptCounter = 0;
this.SMConfiguration = SMConfiguration;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, InitialState));
SM.AddState(new FunctionState((int)States.StateQuestion, StateQuestion));
SM.AddState(new FunctionState((int)States.StateAnswer, StateAnswer));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
/// <summary>
/// Creates a state machine to navigate to a predefined MVN-PLN location.
/// </summary>
/// <param name="brain">HAL9000Brain instance</param>
/// <param name="cmdMan">HAL9000CmdMan instance</param>
public DefaultStateMachineSM(HAL9000Brain brain, HAL9000CmdMan cmdMan)
{
this.brain = brain;
this.cmdMan = cmdMan;
finalStatus = Status.Ready;
attemptCounter = 0;
objectTaken = false;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, InitialState));
SM.AddState(new FunctionState((int)States.EnterArena, EnterArena));
SM.AddState(new FunctionState((int)States.GetCloseToTable, GetCloseToTable));
SM.AddState(new FunctionState((int)States.DropObject, DropObject));
SM.AddState(new FunctionState((int)States.LeaveArena, LeaveArena));
SM.AddState(new FunctionState((int)States.SearchAndTakeObject, SearchAndTakeObject));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
/// <summary>
/// Creates the SM of the primite action: Take-Object
/// </summary>
/// <param name="brain">HAL9000Brain instance</param>
/// <param name="cmdMan">HAL9000CmdMan instance</param>
/// <param name="objectToTake">Name of the object to take. Default: empty string.</param>
public AnswerQuestion(HAL9000Brain brain, HAL9000CmdMan cmdMan, GPSR_WORLD SMConfiguration)
{
this.brain = brain;
this.cmdMan = cmdMan;
finalStatus = Status.Ready;
attemptCounter = 0;
this.SMConfiguration = SMConfiguration;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, InitialState));
SM.AddState(new FunctionState((int)States.StateQuestion, StateQuestion));
SM.AddState(new FunctionState((int)States.StateAnswer, StateAnswer));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
public CocktailPartyTest(HAL9000Brain brain, HAL9000CmdMan cmdMan)
{
this.brain = brain;
this.cmdMan = cmdMan;
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Executing Cocktail Party Test");
this.brain.Status.TestBeingExecuted = "Cocktail Party";
this.brain.OnStatusChanged(new HAL9000StatusArgs(this.brain.Status));
this.finalState = FinalStates.StillRunning;
tryToOpenDoor = false;
entranceLocation = "frontentrance";
partyroomLocation = "partyroom";
drinksLocation = "drinks";
exitLocation = "exit";
defaultDrink = "mangojuice";
attemptCounter = 0;
gestureFailed = false;
defaultNames = new string[] { "Alan", "Albert", "Angel" };
SM = new FunctionBasedStateMachine();
//orders = new Queue<order>(3);
ordersCount = 0;
rejectedNames = new List <string>(3);
SM.AddState(new FunctionState((int)States.EnterArena, new SMStateFuncion(EnterArena)));
SM.AddState(new FunctionState((int)States.GoToPartyRoom, new SMStateFuncion(GoToPartyRoom)));
SM.AddState(new FunctionState((int)States.WaitForRequest, new SMStateFuncion(WaitForRequest)));
SM.AddState(new FunctionState((int)States.IdentifyPerson, new SMStateFuncion(IdentifyPerson)));
SM.AddState(new FunctionState((int)States.WaitForOrder, new SMStateFuncion(WaitForOrder)));
SM.AddState(new FunctionState((int)States.NoGestureRecognized, new SMStateFuncion(NoGestureRecognized)));
SM.AddState(new FunctionState((int)States.WaitForConfirmation, new SMStateFuncion(WaitForConfirmation)));
SM.AddState(new FunctionState((int)States.EnqueueOrder, new SMStateFuncion(EnqueueOrder)));
SM.AddState(new FunctionState((int)States.GoToDrinksLocation, new SMStateFuncion(GoToDrinksLocation)));
SM.AddState(new FunctionState((int)States.SearchAndTakeObject, new SMStateFuncion(SearchAndTakeObject)));
SM.AddState(new FunctionState((int)States.GoToHumanLocation, new SMStateFuncion(GoToHumanLocation)));
SM.AddState(new FunctionState((int)States.DeliverDrink, new SMStateFuncion(DeliverDrink)));
SM.AddState(new FunctionState((int)States.LeaveArena, new SMStateFuncion(LeaveArena)));
SM.AddState(new FunctionState((int)States.FinalState, new SMStateFuncion(FinalState)));
SM.SetFinalState((int)States.FinalState);
}
public CocktailPartyTest(HAL9000Brain brain, HAL9000CmdMan cmdMan)
{
this.brain = brain;
this.cmdMan = cmdMan;
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Executing Cocktail Party Test");
this.brain.Status.TestBeingExecuted = "Cocktail Party";
this.brain.OnStatusChanged(new HAL9000StatusArgs(this.brain.Status));
this.finalState = FinalStates.StillRunning;
tryToOpenDoor = false;
entranceLocation = "frontentrance";
partyroomLocation = "partyroom";
drinksLocation = "drinks";
exitLocation = "exit";
defaultDrink = "mangojuice";
attemptCounter = 0;
gestureFailed = false;
defaultNames = new string[] { "Alan", "Albert", "Angel" };
SM = new FunctionBasedStateMachine();
//orders = new Queue<order>(3);
ordersCount = 0;
rejectedNames = new List<string>(3);
SM.AddState(new FunctionState((int)States.EnterArena, new SMStateFuncion(EnterArena)));
SM.AddState(new FunctionState((int)States.GoToPartyRoom, new SMStateFuncion(GoToPartyRoom)));
SM.AddState(new FunctionState((int)States.WaitForRequest, new SMStateFuncion(WaitForRequest)));
SM.AddState(new FunctionState((int)States.IdentifyPerson, new SMStateFuncion(IdentifyPerson)));
SM.AddState(new FunctionState((int)States.WaitForOrder, new SMStateFuncion(WaitForOrder)));
SM.AddState(new FunctionState((int)States.NoGestureRecognized, new SMStateFuncion(NoGestureRecognized)));
SM.AddState(new FunctionState((int)States.WaitForConfirmation, new SMStateFuncion(WaitForConfirmation)));
SM.AddState(new FunctionState((int)States.EnqueueOrder, new SMStateFuncion(EnqueueOrder)));
SM.AddState(new FunctionState((int)States.GoToDrinksLocation, new SMStateFuncion(GoToDrinksLocation)));
SM.AddState(new FunctionState((int)States.SearchAndTakeObject, new SMStateFuncion(SearchAndTakeObject)));
SM.AddState(new FunctionState((int)States.GoToHumanLocation, new SMStateFuncion(GoToHumanLocation)));
SM.AddState(new FunctionState((int)States.DeliverDrink, new SMStateFuncion(DeliverDrink)));
SM.AddState(new FunctionState((int)States.LeaveArena, new SMStateFuncion(LeaveArena)));
SM.AddState(new FunctionState((int)States.FinalState, new SMStateFuncion(FinalState)));
SM.SetFinalState((int)States.FinalState);
}
/// <summary>
/// Creates the SM of the primite action: Take-Object
/// </summary>
/// <param name="brain">HAL9000Brain instance</param>
/// <param name="cmdMan">HAL9000CmdMan instance</param>
/// <param name="objectToTake">Name of the object to take. Default: empty string.</param>
public BringObject(HAL9000Brain brain, HAL9000CmdMan cmdMan, GPSR_WORLD SMConfiguration, string objectName = "")
{
this.brain = brain;
this.cmdMan = cmdMan;
finalStatus = Status.Ready;
this.SMConfiguration = SMConfiguration;
this.objectName = objectName;
foundPersonMessage = "Human please get close to me and take the object.";
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, InitialState));
SM.AddState(new FunctionState((int)States.DeliverObject, DeliverObject));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
/// <summary>
/// Creates a state machine to enter the arena up to a location known by the motion planner.
/// </summary>
/// <param name="brain">A HAL9000Brain instance</param>
/// <param name="location">A location known by the motion planner where the robot should try to go when entering the arena.</param>
public SM_AssociateNameAndFace(HAL9000Brain brain, HAL9000CmdMan cmdMan, string [] knownPersons, string defaultName, bool usePanAndTilt, List <string> rejectedNames, bool trainPersonsShirt)
{
this.brain = brain;
this.cmdMan = cmdMan;
this.attemptCounter = 0;
this.defaultName = defaultName;
this.knownPersons = knownPersons;
this.rejectedNames = rejectedNames;
this.usePanAndTilt = usePanAndTilt;
this.trainShirt = trainPersonsShirt;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, new SMStateFuncion(InitialState)));
SM.AddState(new FunctionState((int)States.AskForName, new SMStateFuncion(AskForName)));
SM.AddState(new FunctionState((int)States.FindHuman, new SMStateFuncion(FindHuman)));
SM.AddState(new FunctionState((int)States.TrainFace, new SMStateFuncion(TrainFace)));
SM.AddState(new FunctionState((int)States.FinalState, new SMStateFuncion(FinalState), true));
SM.SetFinalState((int)States.FinalState);
finalState = FinalStates.StillRunning;
}
/// <summary>
/// Creates the SM of the primite action: Take-Object
/// </summary>
/// <param name="brain">HAL9000Brain instance</param>
/// <param name="cmdMan">HAL9000CmdMan instance</param>
/// <param name="objectToTake">Name of the object to take. Default: empty string.</param>
public BringObject(HAL9000Brain brain, HAL9000CmdMan cmdMan, GPSR_WORLD SMConfiguration, string objectName="")
{
this.brain = brain;
this.cmdMan = cmdMan;
finalStatus = Status.Ready;
this.SMConfiguration = SMConfiguration;
this.objectName = objectName;
foundPersonMessage = "Human please get close to me and take the object.";
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, InitialState));
SM.AddState(new FunctionState((int)States.DeliverObject, DeliverObject));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
public OpenChallenge_Training(HAL9000Brain brain, HAL9000CmdMan cmdMan)
{
this.brain = brain;
this.cmdMan = cmdMan;
this.brain.UseFloorLaser = false;
height = 0;
LocationTable = "table";
LocationTray = "tray";
percent = 50;
distance = 0;
headPan = 0;
headTilt = -1.1;
voiceRecognitionAttempts = 0;
alreadyKnownPersons = new List<string>();
defaultNames = new string[] {"John", "James", "William", "Michael"};
personCounter = 0;
usingRightArm = true;
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Executing Open Challenge");
this.brain.Status.TestBeingExecuted = "Open Challenge";
this.brain.OnStatusChanged(new HAL9000StatusArgs(this.brain.Status));
this.finalState = FinalStates.StillRunning;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.CallRobot, CallRobot));
SM.AddState(new FunctionState((int)States.TrainFace, TrainFace));
SM.AddState(new FunctionState((int)States.DeliverSheet, DeliverSheet));
SM.AddState(new FunctionState((int)States.TrainVoice, TrainVoice));
SM.AddState(new FunctionState((int)States.ReceiveSheet, ReceiveSheet));
SM.AddState(new FunctionState((int)States.AdjustTable, AdjustTable));
SM.AddState(new FunctionState((int)States.GotoTray, GotoTray));
SM.AddState(new FunctionState((int)States.TakeTray, TakeTray));
SM.AddState(new FunctionState((int)States.GotoTable, GotoTable));
SM.AddState(new FunctionState((int)States.TrayOnTable, TrayOnTable));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
public OpenChallenge_Training(HAL9000Brain brain, HAL9000CmdMan cmdMan)
{
this.brain = brain;
this.cmdMan = cmdMan;
this.brain.UseFloorLaser = false;
height = 0;
LocationTable = "table";
LocationTray = "tray";
percent = 50;
distance = 0;
headPan = 0;
headTilt = -1.1;
voiceRecognitionAttempts = 0;
alreadyKnownPersons = new List <string>();
defaultNames = new string[] { "John", "James", "William", "Michael" };
personCounter = 0;
usingRightArm = true;
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Executing Open Challenge");
this.brain.Status.TestBeingExecuted = "Open Challenge";
this.brain.OnStatusChanged(new HAL9000StatusArgs(this.brain.Status));
this.finalState = FinalStates.StillRunning;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.CallRobot, CallRobot));
SM.AddState(new FunctionState((int)States.TrainFace, TrainFace));
SM.AddState(new FunctionState((int)States.DeliverSheet, DeliverSheet));
SM.AddState(new FunctionState((int)States.TrainVoice, TrainVoice));
SM.AddState(new FunctionState((int)States.ReceiveSheet, ReceiveSheet));
SM.AddState(new FunctionState((int)States.AdjustTable, AdjustTable));
SM.AddState(new FunctionState((int)States.GotoTray, GotoTray));
SM.AddState(new FunctionState((int)States.TakeTray, TakeTray));
SM.AddState(new FunctionState((int)States.GotoTable, GotoTable));
SM.AddState(new FunctionState((int)States.TrayOnTable, TrayOnTable));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
/// <summary>
/// Creates a state machine for this test.
/// </summary>
/// <param name="brain">HAL9000Brain instance</param>
/// <param name="cmdMan">HAL9000CmdMan instance</param>
public GPSR(HAL9000Brain brain, HAL9000CmdMan cmdMan)
{
this.brain = brain;
this.cmdMan = cmdMan;
attemptCounter = 0;
attemptLimit = 3;
finalStatus = Status.Ready;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, InitialState));
SM.AddState(new FunctionState((int)States.EnterArena, EnterArena));
SM.AddState(new FunctionState((int)States.NavigateToOperator, NavigateToOperator));
SM.AddState(new FunctionState((int)States.WaitForCommand, WaitForCommand));
SM.AddState(new FunctionState((int)States.ConfirmComand, ConfirmComand));
SM.AddState(new FunctionState((int)States.ParseCommand, ParseCommand));
SM.AddState(new FunctionState((int)States.PerformCommand, PerformCommand));
SM.AddState(new FunctionState((int)States.LeaveArena, LeaveArena));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
/// <summary>
/// Creates a state machine for this test.
/// </summary>
/// <param name="brain">HAL9000Brain instance</param>
/// <param name="cmdMan">HAL9000CmdMan instance</param>
public GPSR(HAL9000Brain brain, HAL9000CmdMan cmdMan)
{
this.brain = brain;
this.cmdMan = cmdMan;
attemptCounter = 0;
attemptLimit = 3;
finalStatus = Status.Ready;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, InitialState));
SM.AddState(new FunctionState((int)States.EnterArena, EnterArena));
SM.AddState(new FunctionState((int)States.NavigateToOperator, NavigateToOperator));
SM.AddState(new FunctionState((int)States.WaitForCommand, WaitForCommand));
SM.AddState(new FunctionState((int)States.ConfirmComand, ConfirmComand));
SM.AddState(new FunctionState((int)States.ParseCommand, ParseCommand));
SM.AddState(new FunctionState((int)States.PerformCommand, PerformCommand));
SM.AddState(new FunctionState((int)States.LeaveArena, LeaveArena));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
/// <summary>
/// Creates a state machine for the RoboZoo test.
/// </summary>
/// <param name="brain">HAL9000Brain instance</param>
/// <param name="cmdMan">HAL9000CmdMan instance</param>
public RoboZoo(HAL9000Brain brain, HAL9000CmdMan cmdMan)
{
this.brain = brain;
this.cmdMan = cmdMan;
t_HEADSearchMovements = new Thread(new ThreadStart(HEADSearchMovements));
t_ARMSSearchMovements = new Thread(new ThreadStart(ARMSSearchMovements));
t_SPGENSearchPhrases = new Thread(new ThreadStart(SPGENSearchPhrases));
t_BASEDanceMovements = new Thread(new ThreadStart(BASEDanceMovements));
t_ARMSDanceMovements = new Thread(new ThreadStart(ARMSDanceMovements));
t_HEADDanceMovements = new Thread(new ThreadStart(HEADDanceMovements));
t_SPGENHypnoSpeech = new Thread(new ThreadStart(SPGENHypnoSpeech));
t_ARMSHypnoMovements = new Thread(new ThreadStart(ARMSHypnoMovements));
t_HEADHypnoMovements = new Thread(new ThreadStart(HEADHypnoMovements));
headRandPos = new Random();
searchAttempt = 0;
stopAllThreads = false;
hypnoSpeechFinished = false;
stopDance = false;
finalStatus = Status.Ready;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, InitialState));
SM.AddState(new FunctionState((int)States.SearchMarker, SearchMarker));
SM.AddState(new FunctionState((int)States.MarkerFound, MarkerFound));
SM.AddState(new FunctionState((int)States.MarkerNotFound, MarkerNotFound));
SM.AddState(new FunctionState((int)States.PerformPresentation, PerformPresentation));
SM.AddState(new FunctionState((int)States.PerformDance, PerformDance));
SM.AddState(new FunctionState((int)States.PerformHipnotize, PerformHipnotize));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
/// <summary>
/// Creates the SM of the primite action: Take-Object
/// </summary>
/// <param name="brain">HAL9000Brain instance</param>
/// <param name="cmdMan">HAL9000CmdMan instance</param>
/// <param name="objectToTake">Name of the object to take. Default: empty string.</param>
public TakeObject(HAL9000Brain brain, HAL9000CmdMan cmdMan, GPSR_WORLD SMConfiguration, string objectToTake = "")
{
this.brain = brain;
this.cmdMan = cmdMan;
finalStatus = Status.Ready;
this.SMConfiguration = SMConfiguration;
this.objectToTake = objectToTake;
SATO_succeeded = "I got it.";
SATO_failed = "I can't take the object.";
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, InitialState));
SM.AddState(new FunctionState((int)States.SearchAndTakeObject, SearchAndTakeObject));
SM.AddState(new FunctionState((int)States.SATO_Failed, SATO_Failed));
SM.AddState(new FunctionState((int)States.SATO_Succeeded, SATO_Succeeded));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
/// <summary>
/// Creates the SM of the primite action: Take-Object
/// </summary>
/// <param name="brain">HAL9000Brain instance</param>
/// <param name="cmdMan">HAL9000CmdMan instance</param>
/// <param name="objectToTake">Name of the object to take. Default: empty string.</param>
public TakeObject(HAL9000Brain brain, HAL9000CmdMan cmdMan, GPSR_WORLD SMConfiguration, string objectToTake="")
{
this.brain = brain;
this.cmdMan = cmdMan;
finalStatus = Status.Ready;
this.SMConfiguration = SMConfiguration;
this.objectToTake = objectToTake;
SATO_succeeded = "I got it.";
SATO_failed = "I can't take the object.";
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, InitialState));
SM.AddState(new FunctionState((int)States.SearchAndTakeObject, SearchAndTakeObject));
SM.AddState(new FunctionState((int)States.SATO_Failed, SATO_Failed));
SM.AddState(new FunctionState((int)States.SATO_Succeeded, SATO_Succeeded));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
/// <summary>
/// Creates a state machine for the test.
/// </summary>
/// <param name="brain">HAL9000Brain instance</param>
/// <param name="cmdMan">HAL9000CmdMan instance</param>
public Restaurant(HAL9000Brain brain, HAL9000CmdMan cmdMan)
{
this.brain = brain;
this.cmdMan = cmdMan;
tableCommandRecognized = false;
kitchenCommandRecognized = false;
tablesToVisit = new Queue<MapLocation>();
finalStatus = Status.Ready;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, InitialState));
SM.AddState(new FunctionState((int)States.FollowHuman, FollowHuman));
SM.AddState(new FunctionState((int)States.WaitForLocationCommand, WaitForLocationCommand));
SM.AddState(new FunctionState((int)States.WaitForLocationConfirmation, WaitForLocationConfirmation));
SM.AddState(new FunctionState((int)States.WaitForTableDirectionCommand, WaitForTableDirectionCommand));
SM.AddState(new FunctionState((int)States.WaitForTableDirectionConfirmation, WaitForTableDirectionConfirmation));
SM.AddState(new FunctionState((int)States.WaitForOrderingCommand, WaitForOrderingCommand));
SM.AddState(new FunctionState((int)States.WaitForOrderTableConfirmation, WaitForOrderTableConfirmation));
SM.AddState(new FunctionState((int)States.GoToOrderTable, GoToOrderTable));
SM.AddState(new FunctionState((int)States.TakeOrder, TakeOrder));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
/// <summary>
/// Creates a state machine for the RoboZoo test.
/// </summary>
/// <param name="brain">HAL9000Brain instance</param>
/// <param name="cmdMan">HAL9000CmdMan instance</param>
public RoboZoo(HAL9000Brain brain, HAL9000CmdMan cmdMan)
{
this.brain = brain;
this.cmdMan = cmdMan;
t_HEADSearchMovements = new Thread(new ThreadStart(HEADSearchMovements));
t_ARMSSearchMovements = new Thread(new ThreadStart(ARMSSearchMovements));
t_SPGENSearchPhrases = new Thread(new ThreadStart(SPGENSearchPhrases));
t_BASEDanceMovements = new Thread(new ThreadStart(BASEDanceMovements));
t_ARMSDanceMovements = new Thread(new ThreadStart(ARMSDanceMovements));
t_HEADDanceMovements = new Thread(new ThreadStart(HEADDanceMovements));
t_SPGENHypnoSpeech = new Thread(new ThreadStart(SPGENHypnoSpeech));
t_ARMSHypnoMovements = new Thread(new ThreadStart(ARMSHypnoMovements));
t_HEADHypnoMovements = new Thread(new ThreadStart(HEADHypnoMovements));
headRandPos = new Random();
searchAttempt = 0;
stopAllThreads = false;
hypnoSpeechFinished = false;
stopDance = false;
finalStatus = Status.Ready;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, InitialState));
SM.AddState(new FunctionState((int)States.SearchMarker, SearchMarker));
SM.AddState(new FunctionState((int)States.MarkerFound, MarkerFound));
SM.AddState(new FunctionState((int)States.MarkerNotFound, MarkerNotFound));
SM.AddState(new FunctionState((int)States.PerformPresentation, PerformPresentation));
SM.AddState(new FunctionState((int)States.PerformDance, PerformDance));
SM.AddState(new FunctionState((int)States.PerformHipnotize, PerformHipnotize));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
