robocluedo_main.py File Reference

The main FSM of RCL. More...

Go to the source code of this file.

Data Structures
class	robocluedo_main.robocluedo_random_target
	implementation of the state random_target. More...
class	robocluedo_main.robocluedo_moving
	implementation of the state moving. More...
class	robocluedo_main.robocluedo_listening_for_hints
	implementation of the state listening_for_hints. More...
class	robocluedo_main.robocluedo_update_ontology
	implementation of the state update_ontology. More...
class	robocluedo_main.robocluedo_reasoning
	implementation of the state reasoning. More...
class	robocluedo_main.robocluedo_charge
	implementation of the state charge. More...

Namespaces
	robocluedo_main

Functions
def	robocluedo_main.listen_for_hints (data)
	listen for a hint from the oracle, then buffer it More...
def	robocluedo_main.create_state_machine ()
	define the state machine of the robot before starting More...

Variables
bool	robocluedo_main.hint_received = False
	is there any message from the oracle? More...
	robocluedo_main.hint = None
	the message from the oracle, if any More...
string	robocluedo_main.target = ""
	target to be 'consumed' by 'robocluedo_moving' More...
string	robocluedo_main.actual_position = ""
	actual position of the robot (string, the room) More...
bool	robocluedo_main.charge_ready = False
	is the charge ready? More...
	robocluedo_main.charge = None
	a possible solution to be confirmed or discarded, if any More...
string	robocluedo_main.hypothesis_tag = ""
	teh tag of the actual hypothesis More...

Detailed Description

The main FSM of RCL.

ROS Node Name

• robocluedo_main

Authors

Francesco Ganci (S4143910)

Version

v1.0

Description:

The main part of this architecture is the FSM implemented in this node, which uses the ROS framework smach. See the diagrams to understand how this node works.

this node has been implemented thinking on the maximum flexibility: the way it works can be easily extended or integrated with other components with small, or also absent, changes.

UML component
(See RoboCLuedo – COMP – UML Components Diagram the overal architecture, for further informations)

Subscribers:

• /hint : Hint.msg
  hint from the oracle
  
  

Clients:

• /go_to : GoTo.srv
  see the service GoToCallback
  
  
• /random_room : RandomRoom.srv
  see the service ChooseRoomRandom
  
  
• /check_solution : checkSolution.srv
  see the service checkSolutionCallback
  
  
• /cluedo_armor/add_hint : AddHint.srv
  see the service ServiceAddHint
  
  
• /cluedo_armor/find_consistent_h : FindConsistentHypotheses.srv
  see the service ServiceFindConsistentHypotheses
  
  
• /cluedo_armor/wrong_hypothesis : DiscardHypothesis.srv
  see the service DiscardHypothesis
  
  
• /cluedo_armor/backup : std_srvs::Trigger
  see the service ServiceBackupOntology
  
  

Definition in file robocluedo_main.py.