Apollo 11.0
自动驾驶开放平台
state_machine.yaml
浏览该文件的文档.
1# state:
2# static_align:
3
4stages:
5 - "record_check_start"
6 - "static_align_befor_collect_data"
7 - "eight_route_befor_collect_data"
8 - "loops_check"
9 - "eight_route_after_collect_data"
10 - "static_align_after_collect_data"
11 - "record_check_end"
12
13flow:
14 record_check_start:
15 exception:
16 ERROR_VERIFY_NO_RECORDERS: "self"
17
18 static_align_befor_collect_data:
19 exception:
20 ERROR_VERIFY_NO_GNSSPOS: "record_check_start"
21 ERROR_GNSS_SIGNAL_FAIL: "self"
22 ERROR_NOT_STATIC: "self"
23
24 eight_route_befor_collect_data:
25 exception:
26 ERROR_VERIFY_NO_GNSSPOS: "record_check_start"
27 ERROR_NOT_EIGHT_ROUTE: "self"
28
29 loops_check:
30 exception:
31 ERROR_LOOPS_NOT_REACHED: "self"
32
33 eight_route_after_collect_data:
34 exception:
35 ERROR_VERIFY_NO_GNSSPOS: "record_check_start"
36 ERROR_NOT_EIGHT_ROUTE: "self"
37
38 static_align_after_collect_data:
39 exception:
40 ERROR_VERIFY_NO_GNSSPOS: "record_check_start"
41 ERROR_GNSS_SIGNAL_FAIL: "self"
42 ERROR_NOT_STATIC: "self"
43
44 record_check_end:
45 null