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

[Sylvain Joyeux]

Hey, two points:
 - this question would better be placed on the robotics stack exchange
website (with the syskit and rock tags) as we discussed earlier on this ML
 - it is generally better to ask *what* you want to do first (i.e. when my
pipeline follower reaches heading X I want to do Y), not *how* you think
you should be doing it (state machine, create roby task and so on)

Sylvain


On Tue, Jun 3, 2014 at 3:53 PM, Matthias Goldhoorn <
matthias.goldhoorn at dfki.de> wrote:

> 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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