Integrating state machine in inspection yaml

Author: animeshsingh98

GEMstack/knowledge/defaults/computation_graph.yaml

@@ -43,6 +43,9 @@ components:
   - route_planning:
       inputs: [vehicle, roadgraph, mission]
       outputs: route
+  - api_call:
+      inputs: all
+      outputs: all
   - driving_logic:
       inputs: all
       outputs: intent
@@ -55,3 +58,4 @@ components:
   - signaling:
       inputs: [intent] 
       outputs: 
+

…tack/onboard/execution/entrypoint_new.py …stack/onboard/execution/entrypoint_sm.pyGEMstack/onboard/execution/entrypoint_new.py renamed to GEMstack/onboard/execution/entrypoint_sm.py GEMstack/onboard/execution/entrypoint_new.py renamed to GEMstack/onboard/execution/entrypoint_sm.py

@@ -168,8 +168,11 @@ def validate_components(components : Dict[str,ComponentExecutor], provided : Lis
                     assert i in possible_inputs, "Component {} is not supposed to receive input {}".format(k,i)
         outputs = c.c.state_outputs()
         for o in required_outputs:
+            print(c.c.state_outputs())
             if o == 'all':
                 assert outputs == ['all'], "Component {} outputs are not provided by previous components".format(k)
+            elif c.c == "api_cal":
+                pass
             else:
                 assert o in outputs, "Component {} doesn't output required output {}".format(k,o)
         for o in outputs:
@@ -235,6 +238,7 @@ def __init__(self, c : Component, essential : bool = True):
         self.num_overruns = 0
         self.overrun_amount = 0.0
         self.do_update = None
+        self.api_call = False
 
     def set_debugger(self, debugger):
         if self.do_debug:
@@ -541,6 +545,7 @@ def run(self):
                     if not self.validate_sensors(1):
                         self.event("Sensors in desired pipeline {} are not working, switching to recovery".format(self.current_pipeline))
                         self.current_pipeline = 'recovery'
+                    
                 except KeyboardInterrupt:
                     if self.current_pipeline == 'recovery':
                         executor_debug_print(1,"\
@@ -633,7 +638,7 @@ def run_until_switch(self):
         """Runs a pipeline until a switch is requested."""
         if self.current_pipeline == 'recovery':        
             self.state.mission.type = MissionEnum.RECOVERY_STOP
-        
+
         (perception_components,planning_components,other_components) = self.pipelines[self.current_pipeline]
         components = list(perception_components.values()) + list(planning_components.values()) + list(other_components.values()) + list(self.always_run_components.values())
         dt_min = min([c.dt for c in components if c.dt != 0.0])
@@ -677,6 +682,9 @@ def run_until_switch(self):
                     if c.essential and self.current_pipeline != 'recovery':
                         executor_debug_print(1,"Other component {} not working, entering recovery mode",name)
                         return 'recovery'
+                    elif c.api_call:
+                        executor_debug_print(1,"No information received by API",name)
+                        continue
                     else:
                         executor_debug_print(1,"Warning, other component {} not working",name)
 
@@ -736,3 +744,5 @@ def done(self):
                 executor_debug_print(1,"Vehicle has disengaged, exiting execution loop.")
                 return True
         return False
+
+

GEMstack/onboard/execution/execution.py

@@ -0,0 +1,53 @@
+from pydantic import BaseModel, Field
+from typing import List, Tuple, Union
+from ..component import Component
+from ...state import AllState, VehicleState, EntityRelation, EntityRelationEnum, Path, Trajectory, Route, ObjectFrameEnum, AgentState, MissionObjective
+import requests
+import copy
+
+
+### MODELS ###
+def check_point_exists(server_url="http://localhost:8000"):
+    try:
+        response = requests.get(f"{server_url}/point")
+        response.raise_for_status()
+        points = response.json().get("points", [])
+    
+        for point in points:
+            return True, [point["x"], point["y"]]
+        return False, []
+
+    except requests.exceptions.RequestException as e:
+        print("Error contacting server:", e)
+        return False, []
+
+class GetPoint(Component):
+    """Follows the given route.  Brakes if you have to yield or
+    you are at the end of the route, otherwise accelerates to
+    the desired speed.
+    """
+
+    def __init__(self, endpoint, type):
+        self.api_endpoint = endpoint
+        self.bounding_box = None
+
+    def state_inputs(self):
+        return ['all']
+
+    def state_outputs(self) -> List[str]:
+        return ['all']
+
+    def rate(self):
+        return 0.2
+
+    def update(self, state: AllState):
+        # request the bounding box, if found then update and then switch the state
+        points_found = False
+        points_found, pts = check_point_exists()
+        if points_found:
+            state.goal = pts
+            print(state.mission.state_list[state.mission.index+1])
+            state.mission.type = state.mission.state_list[state.mission.index+1]
+            state.mission.index += 1
+            print("CHANGING STATES", state.mission.type)
+        return copy.deepcopy(state)