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Dave Schuyler
parent
1b3acf63c1
commit
be0a8a38ec
185
direct/src/fsm/FourState.py
Executable file
185
direct/src/fsm/FourState.py
Executable file
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import DirectNotifyGlobal
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#import DistributedObject
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import FSM
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import State
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import Task
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class FourState:
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"""
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Generic four state FSM base class.
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This is a mix-in class that expects that your derived class
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is a DistributedObject.
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Inherit from FourStateFSM and pass in your states. Two of
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the states should be oposites of each other and the other
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two should be the transition states between the first two.
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E.g.
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+--------+
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-->| closed | --
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| +--------+ |
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| |
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| v
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+---------+ +---------+
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| closing |<----->| opening |
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+---------+ +---------+
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^ |
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| |
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| +------+ |
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----| open |<---
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+------+
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There is a fifth off state, but that is an implementation
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detail (and that's why it's not called a five state FSM).
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I found that this pattern repeated in several things I was
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working on, so this base class was created.
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"""
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if __debug__:
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notify = DirectNotifyGlobal.directNotify.newCategory(
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'FourStateFSM')
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def __init__(self, names, durations = [0, 1, None, 1, 1]):
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"""
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names is a list of state names
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E.g.
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['off', 'opening', 'open', 'closing', 'closed', ]
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e.g. 2:
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['off', 'locking', 'locked', 'unlocking', 'unlocked', ]
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e.g. 3:
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['off', 'deactivating', 'deactive', 'activating', 'activated', ]
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More Details
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Here is a diagram showing the where the names from the list
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are used:
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+---------+
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| 0 (off) |----> (any other state and vice versa).
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+---------+
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+--------+
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-->| 4 (on) |---
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| +--------+ |
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| |
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| v
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+---------+ +---------+
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| 3 (off) |<----->| 1 (off) |
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+---------+ +---------+
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^ |
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| |
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| +---------+ |
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--| 2 (off) |<--
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+---------+
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Each states also has an associated on or off value. The only
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state that is 'on' is state 4. So, the transition states
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between off and on (states 1 and 3) are also considered
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off (and so is state 2 which is oposite of 4 and therefore
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oposite of 'on').
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"""
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self.isOn = 0 # used in debugPrint()
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assert(self.debugPrint(
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"FourState(names=%s)"
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%(names)))
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self.doLaterTask = None
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self.names = names
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self.durations = durations
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self.states = {
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0: State.State(names[0],
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self.enterState0,
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self.exitState0,
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[names[1],
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names[2],
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names[3],
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names[4]]),
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1: State.State(names[1],
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self.enterState1,
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self.exitState1,
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[names[2], names[3]]),
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2: State.State(names[2],
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self.enterState2,
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self.exitState2,
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[names[3]]),
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3: State.State(names[3],
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self.enterState3,
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self.exitState3,
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[names[4], names[1]]),
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4: State.State(names[4],
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self.enterState4,
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self.exitState4,
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[names[1]]),
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}
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self.stateIndex = 0
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self.fsm = FSM.FSM('DistributedDoorEntity',
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self.states.values(),
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# Initial State
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names[0],
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# Final State
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names[0],
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)
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self.fsm.enterInitialState()
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def getIsOn(self):
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assert(self.debugPrint("getIsOn() returning %s"%(self.isOn,)))
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return self.isOn
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##### state 0 #####
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def enterState0(self):
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assert(self.debugPrint("enter0()"))
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self.stateIndex = 0
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self.isOn = 0
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def exitState0(self):
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assert(self.debugPrint("exit0()"))
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##### state 1 #####
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def enterState1(self):
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self.stateIndex = 1
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self.isOn = 0
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def exitState1(self):
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assert(self.debugPrint("exitState1()"))
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##### state 2 #####
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def enterState2(self):
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self.stateIndex = 2
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self.isOn = 0
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def exitState2(self):
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assert(self.debugPrint("exitState2()"))
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##### state 3 #####
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def enterState3(self):
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self.stateIndex = 2
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self.isOn = 0
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def exitState3(self):
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assert(self.debugPrint("exitState3()"))
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##### state 4 #####
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def enterState4(self):
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self.stateIndex = 4
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self.isOn = 1
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def exitState4(self):
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assert(self.debugPrint("exitState4()"))
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if __debug__:
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def debugPrint(self, message):
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"""for debugging"""
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return self.notify.debug("%d (%d) %s"%(
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id(self), self.isOn, message))
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228
direct/src/fsm/FourStateAI.py
Executable file
228
direct/src/fsm/FourStateAI.py
Executable file
@ -0,0 +1,228 @@
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import DirectNotifyGlobal
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#import DistributedObjectAI
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import FSM
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import State
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import Task
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class FourStateAI:
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"""
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Generic four state FSM base class.
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This is a mix-in class that expects that your derived class
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is a DistributedObjectAI.
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Inherit from FourStateFSM and pass in your states. Two of
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the states should be oposites of each other and the other
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two should be the transition states between the first two.
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E.g.
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+--------+
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-->| closed | --
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| +--------+ |
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| |
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| v
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+---------+ +---------+
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| closing |<----->| opening |
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+---------+ +---------+
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^ |
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| |
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| +------+ |
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----| open |<---
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+------+
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There is a fifth off state, but that is an implementation
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detail (and that's why it's not called a five state FSM).
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I found that this pattern repeated in several things I was
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working on, so this base class was created.
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"""
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if __debug__:
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notify = DirectNotifyGlobal.directNotify.newCategory(
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'FourStateFSM')
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def __init__(self, names, durations = [0, 1, None, 1, 1]):
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"""
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names is a list of state names
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E.g.
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['off', 'opening', 'open', 'closing', 'closed', ]
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e.g. 2:
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['off', 'locking', 'locked', 'unlocking', 'unlocked', ]
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e.g. 3:
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['off', 'deactivating', 'deactive', 'activating', 'activated', ]
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durations is a list of durations in seconds or None values.
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The list of duration values should be the same length
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as the list of state names and the lists correspond.
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For each state, after n seconds, the FSM will move to
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the next state. That does not happen for any duration
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values of None.
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More Details
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Here is a diagram showing the where the names from the list
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are used:
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+---------+
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| 0 (off) |----> (any other state and vice versa).
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+---------+
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+--------+
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-->| 4 (on) |---
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| +--------+ |
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| |
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| v
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+---------+ +---------+
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| 3 (off) |<----->| 1 (off) |
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+---------+ +---------+
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^ |
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| |
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| +---------+ |
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--| 2 (off) |<--
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+---------+
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Each states also has an associated on or off value. The only
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state that is 'on' is state 4. So, the transition states
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between off and on (states 1 and 3) are also considered
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off (and so is state 2 which is oposite of state 4 and therefore
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oposite of 'on').
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"""
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self.isOn = 0 # used in debugPrint()
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assert(self.debugPrint(
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"FourStateAI(names=%s, durations=%s)"
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%(names, durations)))
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self.doLaterTask = None
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self.stateIndex = 0
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assert len(names) == 5
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assert len(names) == len(durations)
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self.names = names
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self.durations = durations
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self.states = {
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0: State.State(names[0],
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self.enterState0,
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self.exitState0,
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[names[1],
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names[2],
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names[3],
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names[4]]),
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1: State.State(names[1],
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self.enterState1,
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self.exitState1,
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[names[2], names[3]]),
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2: State.State(names[2],
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self.enterState2,
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self.exitState2,
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[names[3]]),
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3: State.State(names[3],
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self.enterState3,
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self.exitState3,
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[names[4], names[1]]),
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4: State.State(names[4],
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self.enterState4,
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self.exitState4,
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[names[1]]),
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}
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self.fsm = FSM.FSM('DistributedDoorEntity',
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self.states.values(),
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# Initial State
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names[0],
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# Final State
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names[0],
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)
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self.fsm.enterInitialState()
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def getInitialState(self):
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return self.stateIndex
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def getIsOn(self):
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assert(self.debugPrint("getIsOn() returning %s"%(self.isOn,)))
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return self.isOn
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##### states #####
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def switchToNextStateTask(self, task):
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assert(self.debugPrint("switchToState1Task()"))
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self.fsm.request(self.states[self.nextStateIndex])
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return Task.done
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def distributeStateChange(self):
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"""
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This function is intentionaly simple so that derived classes
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may easily alter the network message.
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"""
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self.sendUpdate('setState', [self.stateIndex, globalClockDelta.getRealNetworkTime()])
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def enterStateN(self, isOn, stateIndex, nextStateIndex):
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assert(self.debugPrint("enterStateN(stateIndex=%s, nextStateIndex=%s)"%(
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stateIndex, nextStateIndex)))
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self.stateIndex = stateIndex
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self.nextStateIndex = nextStateIndex
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self.isOn = isOn
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self.distributeStateChange()
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if self.durations[stateIndex] is not None:
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self.doLaterTask=taskMgr.doMethodLater(
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self.durations[stateIndex],
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self.switchToNextStateTask,
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self.uniqueName('enterStateN-timer'))
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def exitStateN(self):
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if self.doLaterTask:
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taskMgr.remove(self.doLaterTask)
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self.doLaterTask=None
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##### state 0 #####
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def enterState0(self):
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assert(self.debugPrint("enter0()"))
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self.stateIndex = 0
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self.isOn = 0
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def exitState0(self):
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assert(self.debugPrint("exit0()"))
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##### state 1 #####
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def enterState1(self):
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self.enterStateN(0, 1, 2)
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def exitState1(self):
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assert(self.debugPrint("exitState1()"))
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self.exitStateN()
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##### state 2 #####
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def enterState2(self):
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self.enterStateN(0, 2, 3)
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def exitState2(self):
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assert(self.debugPrint("exitState2()"))
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self.exitStateN()
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##### state 3 #####
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def enterState3(self):
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self.enterStateN(0, 3, 4)
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def exitState3(self):
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assert(self.debugPrint("exitState3()"))
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self.exitStateN()
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##### state 4 #####
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def enterState4(self):
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self.enterStateN(1, 4, 1)
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def exitState4(self):
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assert(self.debugPrint("exitState4()"))
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self.exitStateN()
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if __debug__:
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def debugPrint(self, message):
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"""for debugging"""
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return self.notify.debug("%d (%d) %s"%(
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id(self), self.isOn, message))
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