[Trac] [AllemaniACs] #59: Lua state machine

AllemaniACs trac-notifications at lists.kbsg.rwth-aachen.de
Mon Jun 16 10:30:02 CEST 2008


#59: Lua state machine
---------------------+------------------------------------------------------
 Reporter:  tim      |       Owner:  tim   
     Type:  feature  |      Status:  new   
 Priority:  major    |   Milestone:  RC2008
Component:  Fawkes   |    Keywords:  FSM   
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 For reactive behaviours, a reactive agent and challenge applications in
 the !RoboCup at Home league a generally usable Lua (finite) state machine
 (FSM) is necessary.

 The state machine should obey the following criteria:
  - minimum amount of code overhead for the state machine
  - allow for hierarchical usage, this does not mean that it needs explicit
 API support, but for example that it does not use a global variable that
 prevents us from instantiating several state machines
  - Allow for the usage of our usual design patterns, like executing code
 on the entry to a state and not (necessarily) on the transition to the
 state. This allows for easier recycling of states, like driving to a
 standby position from different states does not need the very same code in
 every transition, which is more likely to be defined for the outgoing
 state
  - Allow safe state transitions. An example from the AtHome league: the
 robot is grasping a cup. Now the time is up and to get the points for
 exiting the arena it should abort the current action. This would mean to
 retract the arm and ''then'' leave, and not drive with the extended arm.
 So if the "leave arena" transition is executed by a trigger, the state
 machine should make it simple for this safe behaviour.

 Desired but not required features:
  - Visualization of the state machine (offline)
  - Visualization of the current FSM state and flow (online)

-- 
Ticket URL: <https://lechuck.informatik.rwth-aachen.de:2342/trac/ticket/59>
AllemaniACs <http://robocup.rwth-aachen.de>
AllemaniACs Trac


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