Skip to content

Commit 8331b65

Browse files
AryanP281AryanP281
committed
feat: add arm state machine
1 parent 9ee45ea commit 8331b65

1 file changed

Lines changed: 236 additions & 0 deletions

File tree

‎smartFactory/arm.pkl‎

Lines changed: 236 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,236 @@
1+
import
2+
"https://raw.githubusercontent.com/CollaborativeStateMachines/Cirrina/refs/heads/develop/src/main/resources/pkl/csm/csml.pkl"
3+
4+
import "events.pkl" as Events
5+
import "serviceTypes.pkl" as ServiceTypes
6+
import "variables.pkl" as Vars
7+
8+
armFSM = new csml.StateMachine {
9+
transient {
10+
["pickupSuccess"] = "true"
11+
["errorMsg"] = "''"
12+
["partsAssembled"] = "0"
13+
["partsPerProduct"] = "3"
14+
}
15+
16+
states {
17+
["idleState"] = new csml.Initial {
18+
entry {
19+
new csml.Match {
20+
cases {
21+
new csml.Case {
22+
of = "!pickupSuccess"
23+
yields {
24+
new csml.Emit { event = new csml.Internal { topic = Events.ePickupNotSuccess } }
25+
}
26+
}
27+
}
28+
}
29+
}
30+
31+
on {
32+
[Events.eJobDone] {
33+
to = "jobDoneState"
34+
}
35+
[Events.eArmPickup] {
36+
to = "pickupState"
37+
provided = "!\(Vars.vIsJobDone)"
38+
}
39+
[Events.ePickupNotSuccess] {
40+
to = "pickupState"
41+
}
42+
}
43+
}
44+
45+
["pickupState"] {
46+
entry {
47+
new csml.Invoke {
48+
type = ServiceTypes.stPickup
49+
}
50+
}
51+
52+
after {
53+
["pickupTimeout"] {
54+
delay = "10000"
55+
triggers = new csml.Emit {
56+
event = new csml.Internal { topic = Events.eArmPickupUpdateStatusTimedout }
57+
}
58+
}
59+
}
60+
61+
on {
62+
[Events.eUpdatePickupStatus] {
63+
yields {
64+
new csml.Eval { expression = "pickupSuccess = $success" }
65+
new csml.Match {
66+
cases {
67+
new csml.Case {
68+
of = "$success"
69+
yields {
70+
new csml.Emit {
71+
event { topic = Events.ePickedUp }
72+
}
73+
}
74+
}
75+
}
76+
default = new csml.Eval { expression = "errorMsg = 'Pickup failed...'" }
77+
}
78+
new csml.Emit { event = new csml.Internal { topic = Events.eCheckPickUpSuccess } }
79+
}
80+
}
81+
82+
[Events.eCheckPickUpSuccess] {
83+
to = "assembleState"
84+
provided = "pickupSuccess"
85+
or = "errorState"
86+
}
87+
88+
[Events.eArmPickupUpdateStatusTimedout] {
89+
to = "errorState"
90+
yields {
91+
new csml.Eval { expression = "pickupSuccess = false" }
92+
new csml.Eval { expression = "errorMsg = 'Pickup timeout...'" }
93+
}
94+
}
95+
}
96+
}
97+
98+
["errorState"] {
99+
entry {
100+
new csml.Emit {
101+
event {
102+
topic = Events.eProcessMessage
103+
data { ["msg"] = "'Fatal robotic arm failure: ' + errorMsg" }
104+
}
105+
target = "'messageProcessor'"
106+
}
107+
}
108+
109+
after {
110+
["pickupRetryTimeout"] {
111+
delay = "2000"
112+
triggers = new csml.Emit { event = new csml.Internal { topic = Events.eRetry } }
113+
}
114+
}
115+
116+
on {
117+
[Events.eRetry] {
118+
to = "assembleState"
119+
provided = "pickupSuccess"
120+
or = "returnState"
121+
}
122+
123+
[Events.eUpdatePickupStatus] {
124+
yields {
125+
new csml.Eval { expression = "pickupSuccess = $success" }
126+
}
127+
}
128+
129+
[Events.eJobDone] {
130+
to = "jobDoneState"
131+
}
132+
}
133+
}
134+
135+
["assembleState"] {
136+
entry {
137+
new csml.Invoke {
138+
type = ServiceTypes.stAssemble
139+
}
140+
}
141+
142+
after {
143+
["assemblyTimeout"] {
144+
delay = "10000"
145+
triggers = new csml.Emit {
146+
event = new csml.Internal { topic = Events.eArmAssemblyUpdateStatusTimedout }
147+
}
148+
}
149+
}
150+
151+
on {
152+
[Events.eCheckAssembleSuccess] {
153+
yields {
154+
new csml.Match {
155+
cases {
156+
new csml.Case {
157+
of = "$success"
158+
yields {
159+
new csml.Emit {
160+
event = new csml.Internal { topic = Events.eAssemblySuccessful }
161+
}
162+
}
163+
}
164+
new csml.Case {
165+
of = "!($success)"
166+
yields {
167+
new csml.Emit {
168+
event = new csml.Internal { topic = Events.eAssemblyUnsuccessful }
169+
}
170+
}
171+
}
172+
}
173+
}
174+
}
175+
}
176+
177+
[Events.eAssemblySuccessful] {
178+
to = "returnState"
179+
yields {
180+
new csml.Eval { expression = "partsAssembled = partsAssembled + 1" }
181+
new csml.Emit {
182+
event { topic = Events.eAssemblyComplete }
183+
target = "'monitor'"
184+
}
185+
}
186+
}
187+
188+
[Events.eAssemblyUnsuccessful] {
189+
to = "errorState"
190+
yields {
191+
new csml.Eval { expression = "errorMsg = 'Assemble failed...'" }
192+
}
193+
}
194+
195+
[Events.eArmAssemblyUpdateStatusTimedout] {
196+
to = "errorState"
197+
yields {
198+
new csml.Eval { expression = "errorMsg = 'Assembly timeout...'" }
199+
}
200+
}
201+
}
202+
}
203+
204+
["returnState"] {
205+
entry {
206+
new csml.Invoke {
207+
type = ServiceTypes.stReturnToStart
208+
}
209+
}
210+
211+
on {
212+
[Events.eResetArm] {
213+
to = "idleState"
214+
yields {
215+
new csml.Match {
216+
cases {
217+
new csml.Case {
218+
of = "partsAssembled >= partsPerProduct"
219+
yields {
220+
new csml.Eval { expression = "partsAssembled = 0" }
221+
new csml.Emit {
222+
event { topic = Events.eProductComplete }
223+
target = "'jobController'"
224+
}
225+
}
226+
}
227+
}
228+
}
229+
}
230+
}
231+
}
232+
}
233+
234+
["jobDoneState"] = new csml.Terminal {}
235+
}
236+
}

0 commit comments

Comments
 (0)