skill_fsm_simple

Overview

The kill_fsm_simple application demonstrates how a finite state machine (FSM) works within a skill. It simulates an interactive scenario where the robot asks the user to identify their current location. The process includes audio feedback, LED animations, and a chest display with selectable choices. The FSM completes when the correct answer is selected.

Execution

Run the application with:

python3 skill_fsm_simple/ --auto-run

FSM States

  • RECEIVING_TASK: Plays a success sound, logs the setup result, and starts the FSM. Then, plays the success sound again and triggers a blue talking LED animation on the robot’s head. It then transitions to ASK_CURRENT_PLACE.

  • ASK_CURRENT_PLACE: Displays a multiple-choice question on the robot’s chest, asking: “Where am I?” It waits for user input. If the user selects “Colombia”, it transitions to END. If the selection is incorrect, it moves to WRONG_ANSWER.

  • WRONG_ANSWER: Plays the wrong_answer sound and notifies the user. It then returns to ASK_CURRENT_PLACE for the user to try again.

  • END: Plays the task_finished sound. The FSM then finishes.

State Transitions

  • Start → RECEIVING_TASK

  • RECEIVING_TASK → ASK_CURRENT_PLACE

  • ASK_CURRENT_PLACE → END (if correct answer)

  • ASK_CURRENT_PLACE → WRONG_ANSWER (if incorrect) → ASK_CURRENT_PLACE (retry)

Inputs

The user selects the location from the options displayed on the robot’s chest (“Where am I?”).

Outputs

  • The application logs transitions between states in the FSM.

  • Displays a chest interface with the question “Where am I?” for user input.

  • Executes tasks such as playing sounds and showing LED animations during the FSM process.

  • Prints the results of the setup (setup result: {result}), execution (execute_main result: {result}), and finish (execute_finish result: {result}) of the skill.

Example Output

[WARNING] [timestamp] [pyraya.kill_fsm_simple]: setup result: true
[INFO] [timestamp] [pyraya.fsm.FSM_Simple]: Transition:  -> RECEIVING_TASK
[INFO] [timestamp] [pyraya.fsm.FSM_Simple]: Playing sound: success
[INFO] [timestamp] [pyraya.fsm.FSM_Simple]: LED animation: talking (blue)
[INFO] [timestamp] [pyraya.fsm.FSM_Simple]: Transition: RECEIVING_TASK -> ASK_CURRENT_PLACE
[INFO] [timestamp] [pyraya.fsm.FSM_Simple]: Showing chest component: "Where am I?"
[INFO] [timestamp] [pyraya.fsm.FSM_Simple]: Transition: ASK_CURRENT_PLACE -> WRONG_ANSWER
[INFO] [timestamp] [pyraya.fsm.FSM_Simple]: Playing sound: wrong_answer_sound
[INFO] [timestamp] [pyraya.fsm.FSM_Simple]: Transition: WRONG_ANSWER -> ASK_CURRENT_PLACE
[INFO] [timestamp] [pyraya.fsm.FSM_Simple]: Transition: ASK_CURRENT_PLACE -> END
[INFO] [timestamp] [pyraya.fsm.FSM_Simple]: Playing sound: task_finished
[WARNING] [timestamp] [pyraya.kill_fsm_simple]: execute_main result: true
[WARNING] [timestamp] [pyraya.kill_fsm_simple]: execute_finish result: true