3 "EV_START" : "Changed state of start connector.",
4 "EV_SHORT_TIME_TO_END" : "Time to go for the deposition regarless of what do we have.",
5 "EV_LASER_POWER" : "", # FIXME: what's this? (F.J.)
7 "EV_ACTION_DONE" : "ACT FSM signals that the requested action has finished successfully",
8 "EV_ACTION_ERROR" : "ACT FSM signals that the operation did not succeed",
9 "EV_PUCK_REACHABLE" : "Received through ORTE. Sharp sensor informs us, something (preferably the puck) is in reach of chelae",
10 "EV_STACK_FULL" : "ACT FSM signals that the puck stack is full",
12 "EV_MOTION_DONE" : "Previously submitted motion is finished",
13 "EV_GOAL_NOT_REACHABLE" : "Path planner can't calculate a path to the goal. Probably obstacles are on the way.",
15 # not used... delete it ? ... "EV_OBSTRUCTION_AHEAD" : "", # FIXME: what's this exactly? (F.J.)
16 # not used... delete it ? ... "EV_ENEMY_AHEAD" : "", # FIXME: what's this exactly? (F.J.)
19 #"EV_ODO_RECEIVED" : "Execute prediction step based on odometry data",
20 #"EV_LASER_RECEIVED" : "Execute update step based on laser measurement",
21 "EV_SET_ESTIMATED" : "Sets the estimated position to the value from event parameter",
22 "EV_RESET" : "Initialize MCL to uniform distribution on the whole playground",
25 "EV_MOVE_STOP" : "Stop current motion as fast as possible",
26 "EV_NEW_TARGET" : "New target (point or trajectory) is sent",
27 "EV_TRAJECTORY_LOST" : "Actual position of the robot is too far from reference",
28 "EV_TRAJECTORY_DONE" : "Reference position is at the end of the previously submitted trajectory",
29 "EV_TRAJECTORY_DONE_AND_CLOSE" : "::EV_TRAJECTORY_DONE + distance of actual position to the target is less than XXX",
30 "EV_OBSTACLE" : "An obstacle is detected on actual trajectory - we must avoid it.",
31 #"EV_FOUND_AFTER_RESET" : "MCL estimated position after reset",
32 #"EV_RECALCULATION_FAILED" : "Trajectory recalculation caused by a detected obstcale has failed (error or target not reachable)",
39 "EV_PREPARE_FOR_LOAD" : "Signal from the main FSM to set lift to position suited for sharp measurement",
40 "EV_SCRABBLE" : "Signal from the main FSM to set the chelae to not so opened position",
41 "EV_LOAD_THE_PUCK" : "Signal from the main FSM to initiate the puck picking up procedure",
43 "EV_PREPARE_THE_UNLOAD" : "Signal from the main FSM telling ACT FSM prepare for unload (including proper lift position)",
44 "EV_UNLOAD_PUCKS" : "Signal from the main FSM telling ACT FSM to unload pucks (use the pusher)",
45 "EV_FREE_SPACE" : "Signal from the main FSM telling ACT FSM that there is free space under the blade",
47 "EV_PUCK_INSIDE" : "Received through ORTE. Sharp sensor informs us that the puck is inside",
48 "EV_LIFT_IN_POS" : "Received through ORTE. Actual lift position equals the desired one",
49 "EV_PUSHER_IN_POS" : "Received through ORTE. Actual pusher position equals the desired one",