ALAutonomousLife - Advanced

NAOqi Core - Overview | API | Launch trigger conditions | Advanced


Autonomous Life states

ALAutonomousLife states exist for prioritization and automation of starting activities and other services.

List of Autonomous Life states

State name For further details, see ...
“solitary” Solitary state
“interactive” Interactive state
“disabled” Disabled state
“safeguard” Safeguard state

Solitary state

/sites/default/files/repository/69_html_nao/_images/state_solitary_interactive.png

Solitary state is entered from any state:

From ... Solitary state is entered ...
disabled programmatically.
interactive when interactive Activity stack finished.
safeguard when safeguard successfully processed.
solitary when a solitary Activity finished.

When this state is entered:

  • Basic Awareness and Breathing services are started and parameters reset.
  • Autonomous Launchpad is started.
  • Only plugins for “solitary” group are enabled by default.

During this state:

  • Any activity can be started via ALAutonomousLifeProxy::switchFocus().
  • Starting interactive Activity will switch to interactive state.
  • The safeguard and disabled states may be entered.
  • Autonomous Launchpad can not be stopped, and its suggested activities will be automatically focused, potentially interrupting running Activity.

Launchpad Activity prioritization:

  • If a solitary and interactive both have true conditions at the same time, interactive will get priority.
  • When multiple activities have true conditions at the same time, the one that was focused least recently will get priority.
  • During a solitary Activity, an interactive Activity may interrupt it to take the focus.
  • A solitary Activity will not be interrupted another solitary Activity (this behavior could change in the future)

Interactive state

Interactive state is only entered:

  • when an Interactive Activity is focused.

When this state is entered:

  • Basic Awareness and Breathing services will be started and parameters reset.
  • Autonomous Launchpad will be stopped.

During this state:

  • Interactive activities can be started via ALAutonomousLifeProxy::switchFocus()
    • Focusing a new interactive Activity will re-enter the interactive state.
    • Solitary activities may not be started, this would cause the solitary state to enforce its rules and create a bad life cycle with the user. (This could change in the future)
  • The safeguard and disabled state may be entered.
  • Autonomous Launchpad can be started, it will not enforce focusing its suggestions. It will not interrupt the running Activity.
  • When an entire stack of interactive activities has exited, solitary state will be entered.
  • When all humans have been lost, the interactive Activity will be forcibly exited. (This is not yet implemented)

Disabled state

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When this state is entered:

  • Focused Activity will be stopped and stack cleared.
  • Basic Awareness and Breathing services will be stopped if they are running.
  • Autonomous Launchpad. will be stopped.

During this state:

To exit this state:

Safeguard state

Safeguard state is entered when:

  • A critical reflex raised.
  • The developer should not enter this state. Entering this state is reserved for critical Aldebaran code.
  • A critical reflex is raised when ALBodyTemperature sees that a critical joint is too hot to function, or if ALDiagnosis sees that critical hardware is not functioning properly, as defined in Level of failure severity.

When this state is entered:

  • Focused Activity is stopped and stack cleared.
  • Basic Awareness and Breathing services are stopped if they are running.
  • Autonomous Launchpad is stopped.
  • The reflex is then processed.
  • Based on the outcome of the reflex, the solitary state may be re-entered.
    • For damaged hardware, the robot does not exit safeguard state.
    • For overheating, the robot exits the safeguard state after cooling down sufficiently.

During this state:

/sites/default/files/repository/69_html_nao/_images/state_safeguard.png