File size: 2,041 Bytes
5c87019 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 | #pragma once
#include "Types.h"
#include "param.h"
#include "FSM/BaseState.h"
#include "isaaclab/devices/keyboard/keyboard.h"
#include "unitree_joystick_dsl.hpp"
class FSMState : public BaseState
{
public:
FSMState(int state, std::string state_string)
: BaseState(state, state_string)
{
spdlog::info("Initializing State_{} ...", state_string);
auto transitions = param::config["FSM"][state_string]["transitions"];
if(transitions)
{
auto transition_map = transitions.as<std::map<std::string, std::string>>();
for(auto it = transition_map.begin(); it != transition_map.end(); ++it)
{
std::string target_fsm = it->first;
if(!FSMStringMap.right.count(target_fsm))
{
spdlog::warn("FSM State_'{}' not found in FSMStringMap!", target_fsm);
continue;
}
int fsm_id = FSMStringMap.right.at(target_fsm);
std::string condition = it->second;
unitree::common::dsl::Parser p(condition);
auto ast = p.Parse();
auto func = unitree::common::dsl::Compile(*ast);
registered_checks.emplace_back(
std::make_pair(
[func]()->bool{ return func(FSMState::lowstate->joystick); },
fsm_id
)
);
}
}
// register for all states
registered_checks.emplace_back(
std::make_pair(
[]()->bool{ return lowstate->isTimeout(); },
FSMStringMap.right.at("Passive")
)
);
}
void pre_run()
{
lowstate->update();
if(keyboard) keyboard->update();
}
void post_run()
{
lowcmd->unlockAndPublish();
}
static std::unique_ptr<LowCmd_t> lowcmd;
static std::shared_ptr<LowState_t> lowstate;
static std::shared_ptr<Keyboard> keyboard;
}; |