I am searching for a way that allows me to wait for some conditions on ports before applying a new state.
My concrete Problem: I want to make sure that my AUV aligns to the right pipeline. Therefore before starting the pipeline-tracking, I want to check for the current system heading.
My current state-machine looks like this:
find_pipe_back = state target_move_def(:finish_when_reached => false , :heading => 1 ...)
pipe_detector = state pipeline_detector_def
pipe_detector.depends_on find_pipe_back, :role => "detector"
start(pipe_detector) forward pipe_detector.align_auv_event, success_event
roughly I am looking for a way to condition the last-forward.