| #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 |
| ) |
| ); |
| } |
| } |
|
|
| |
| 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; |
| }; |
