[Rock-dev] Defining conditions for state-machines withing roby?

[Matthias Goldhoorn]

I search for a nice way to define that transition should only be done IF 
some conditions (like data on input ports) are valid.

Concrete:

find_pipe_back = state target_move_def(:finish_when_reached => false , 
:heading => 1 ...)
pipe_detector = state pipeline_detector_def
pipe_detector.depends_on find_pipe_back, :role => "detector"
start(pipe_detector)

script do
     somewhow_get_reader_of_orientation
     if orientation.yaw < foo and orientation.yaw > 2
         forward pipe_detector.align_auv_event, success_event
     end
end


I thoug to do anything like creating a Roby::Task like this:

class Foo::Task << Roby::Task
     add OrientationSrv, :as => ori_p
     reader = ori_p.orientation.reader
     script do
         if ori.yaw .....
             emit :failed
         else
             emit :success
      end
end

and then fallback in the statemachine to the original state, but i 
assume this will result in a nonsense-loop. Is there a better way to do 
those things?

Best,
Matthias



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  Matthias Goldhoorn
  Unterwasserrobotik
  
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