Pilot
The Pilot class has been designed as a simplified state machine for high-level control, based on logic from FSMPlanner and previous brainstorming sessions. The main difference going from FSMPlanner to Pilot is that states are no longer separate objects with their own instances of different bot systems; a single state variables assumes one of a finite set of enumerated values to keep track of the bot's high-level state at all times, and all control commands are executed via the ZMQ-based API.
This does make the control flow less extensible than before, but hopefully it will be easier to debug and won't run into problems with shared system instances.
The following diagram illustrates the state machine embodied by Pilot.
View/edit/comment on G-Drive: Pilot state machine