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wongkaiwengwongkaiweng
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fixed no transition when sensor state is the same for two states. Added fastslow example under the testing folder
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Lines changed: 291 additions & 8 deletions

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‎src/examples/testing/fastslow/configs/twoRegions.config‎

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# This is a configuration definition file in folder "/home/catherine/Dropbox/ASL/ltlMultiRobot/configs".
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# Format details are described at the beginning of each section below.
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======== General Config ========
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Actuator_Proposition_Mapping: # Mapping between actuator propositions and actuator handler functions
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camera = share.DummyActuatorHandler.setActuator(name="camera")
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Initial_Truths: # Initially true propositions
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Main_Robot: # The name of the robot used for moving in this config
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Basic_Simulated_Robot
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Name: # Configuration name
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twoRegions
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Region_Tags: # Mapping from tag names to region groups, for quantification
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{}
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Sensor_Proposition_Mapping: # Mapping between sensor propositions and sensor handler functions
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r1_rc = share.DummySensorHandler.inRegion(regionName="r1")
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r2_rc = share.DummySensorHandler.inRegion(regionName="r2")
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camera_ac = share.DummySensorHandler.buttonPress(button_name="camera_ac",init_value=False)
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person = share.DummySensorHandler.buttonPress(button_name="person",init_value=False)
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======== Robot1 Config ========
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CalibrationMatrix: # 3x3 matrix for converting coordinates, stored as lab->map
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array([[1, 0, 0],
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[0, 1, 0],
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[0, 0, 1]])
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DriveHandler: # Input value for robot drive handler, refer to file inside the handlers/drive folder
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share.Drive.HolonomicDriveHandler(multiplier=50.0,maxspeed=999.0)
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InitHandler: # Input value for robot init handler, refer to the init file inside the handlers/robots/Type folder
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basicSim.BasicSimInitHandler(init_region="r1")
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LocomotionCommandHandler: # Input value for robot locomotion command handler, refer to file inside the handlers/robots/Type folder
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basicSim.BasicSimLocomotionCommandHandler(speed=0.5)
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MotionControlHandler: # Input value for robot motion control handler, refer to file inside the handlers/motionControl folder
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share.MotionControl.VectorControllerHandler()
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PoseHandler: # Input value for robot pose handler, refer to file inside the handlers/pose folder
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basicSim.BasicSimPoseHandler()
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RobotName: # Robot Name
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Basic_Simulated_Robot
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Type: # Robot type
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basicSim
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‎src/examples/testing/fastslow/testFastslow.slugsin‎

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[INPUT]
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person
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camera_ac
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sbit0
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[OUTPUT]
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camera
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bit0
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[ENV_TRANS]
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| & ! ! sbit0' ! ! sbit0' & ! sbit0' ! sbit0'
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| ! sbit0' sbit0'
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| ! & ! sbit0 ! bit0 ! sbit0'
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| ! & sbit0 bit0 sbit0'
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| ! & camera_ac camera camera_ac'
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| ! & ! camera_ac ! camera ! camera_ac'
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[ENV_LIVENESS]
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| ! ! bit0 ! sbit0'
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| ! bit0 sbit0'
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[ENV_INIT]
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! sbit0
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! camera_ac
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[SYS_TRANS]
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| ! person' camera'
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| ! camera_ac camera'
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[SYS_LIVENESS]
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! sbit0'
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sbit0'
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[SYS_INIT]
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bit0
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| ! bit0 bit0
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‎src/examples/testing/fastslow/testFastslow.spec‎

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# This is a specification definition file for the LTLMoP toolkit.
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# Format details are described at the beginning of each section below.
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======== SETTINGS ========
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Actions: # List of action propositions and their state (enabled = 1, disabled = 0)
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camera, 1
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CompileOptions:
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convexify: True
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parser: ltl
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symbolic: False
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use_region_bit_encoding: True
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synthesizer: slugs
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fastslow: True
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decompose: True
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CurrentConfigName:
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twoRegions
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Customs: # List of custom propositions
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RegionFile: # Relative path of region description file
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twoRegions.regions
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Sensors: # List of sensor propositions and their state (enabled = 1, disabled = 0)
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person, 1
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======== SPECIFICATION ========
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RegionMapping: # Mapping between region names and their decomposed counterparts
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r1 = p2
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r2 = p1
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others =
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Spec: # Specification in structured English
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# SPEC
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# visit r1 and r2 infinitely often
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# camera stays on once it is turned on
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# camera is triggered when sensing a person
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(e.r1_rc & ! e.camera_ac)
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[](next(e.r1_rc) <-> !next(e.r2_rc))
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[](next(e.r1_rc) | next(e.r2_rc))
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[]((e.r1_rc & s.r1)-> next(e.r1_rc))
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[]((e.r2_rc & s.r2)-> next(e.r2_rc))
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[]<>(s.r1 -> next(e.r1_rc))
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[]<>(s.r2 -> next(e.r2_rc))
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[]((e.camera_ac & s.camera) -> next(e.camera_ac))
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[]((!e.camera_ac & !s.camera) -> !next(e.camera_ac))
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--
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s.r2
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[] (next(e.person) -> next(s.camera))
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[] (e.camera_ac -> next(s.camera))
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[]<> (e.r1_rc)
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[]<> (e.r2_rc)
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‎src/examples/testing/fastslow/twoRegions.regions‎

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# This is a region definition file for the LTLMoP toolkit.
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# Format details are described at the beginning of each section below.
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# Note that all values are separated by *tabs*.
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Background: # Relative path of background image file
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None
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CalibrationPoints: # Vertices to use for map calibration: (vertex_region_name, vertex_index)
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Obstacles: # Names of regions to treat as obstacles
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Regions: # Stored as JSON string
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[
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{
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"name": "boundary",
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"color": [
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0,
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255,
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0
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],
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"holeList": [],
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"height": 0.0,
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"points": [
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[
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0.0,
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3.0
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],
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[
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283.0,
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3.0
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],
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[
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287,
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2
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],
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[
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580.0,
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0.0
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],
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[
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576.0,
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290.0
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],
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[
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283.0,
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260.0
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],
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[
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0.0,
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260.0
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]
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],
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"position": [
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111.0,
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218.0
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],
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"type": "poly",
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"size": [
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580.0,
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290.0
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]
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},
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{
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"name": "r2",
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"color": [
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0,
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0,
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255
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],
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"holeList": [],
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"height": 0,
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"points": [
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[
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0.0,
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3.0
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],
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[
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4.0,
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2.0
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],
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[
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297,
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0
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],
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[
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293,
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290
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],
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[
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0.0,
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260.0
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]
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],
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"position": [
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394.0,
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218.0
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],
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"type": "poly",
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"size": [
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297.0,
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290.0
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]
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},
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{
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"name": "r1",
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"color": [
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255,
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255,
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0
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],
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"height": 0,
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"position": [
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111.0,
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221.0
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],
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"type": "rect",
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"size": [
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283.0,
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257.0
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]
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}
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]
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Transitions: # Region 1 Name, Region 2 Name, Bidirectional transition faces (face1_x1, face1_y1, face1_x2, face1_y2, face2_x1, ...)
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boundary r2 398.0 220.0 394.0 221.0 687.0 508.0 394.0 478.0 398.0 220.0 691.0 218.0 687.0 508.0 691.0 218.0
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boundary r1 394.0 221.0 111.0 221.0 111.0 478.0 394.0 478.0 111.0 478.0 111.0 221.0
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r2 r1 394.0 221.0 394.0 478.0
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‎src/lib/executeStrategy.py‎

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# Run actuators before motion
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self.updateOutputs(self.next_state)
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# check if we have changes in sensor values
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if self.last_sensor_state != sensor_state and self.strategy.current_state.getPropValue('regionCompleted') == self.next_state.getPropValue('regionCompleted'):
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self.arrived = True
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else:
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self.arrived = False
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# save current sensor state for next iteration
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self.last_sensor_state = sensor_state
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if not self.arrived:
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if self.strategy.current_state == self.next_state:
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# Move one step towards the next region (or stay in the same region)
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self.arrived = self.hsub.gotoRegion(self.current_region, self.next_region)
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self.hsub.gotoRegion(self.current_region, self.next_region)
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# Check for completion of motion
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if self.arrived and self.next_state != self.strategy.current_state:
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if self.next_state != self.strategy.current_state:
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if self.transition_contains_motion:
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self.postEvent("INFO", "Crossed border from %s to %s!" % (self.current_region.name, self.next_state.getPropValue('regionCompleted').name))
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self.postEvent("INFO", "Heading to region %s..." % self.next_region.name)

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