Class defining the state transition table behavior for the ApproachingEmergencyVehiclePlugin. More...

#include <approaching_emergency_vehicle_transition_table.hpp>

Collaboration diagram for approaching_emergency_vehicle_plugin::ApproachingEmergencyVehicleTransitionTable:

Public Types
using	TransitionCallback = std::function< void(ApproachingEmergencyVehicleState prev_state, ApproachingEmergencyVehicleState new_state, ApproachingEmergencyVehicleEvent event)>

Public Member Functions
	ApproachingEmergencyVehicleTransitionTable ()=default
	ApproachingEmergencyVehicleTransitionTable Constructor. More...

ApproachingEmergencyVehicleState	getState () const
	Returns the current state. More...

void	event (ApproachingEmergencyVehicleEvent event)
	Trigger event for the transition table. More...

void	setTransitionCallback (TransitionCallback cb)
	Callback setting function. The provided callback will be triggered any time the current state changes to a new state. More...

Private Member Functions
void	eventWhenNO_APPROACHING_ERV (ApproachingEmergencyVehicleEvent event)

void	eventWhenMOVING_OVER_FOR_APPROACHING_ERV (ApproachingEmergencyVehicleEvent event)

void	eventWhenSLOWING_DOWN_FOR_ERV (ApproachingEmergencyVehicleEvent event)

void	logDebugEvent (ApproachingEmergencyVehicleEvent event) const
	Helper function for logging the provide event. More...

void	setAndLogState (ApproachingEmergencyVehicleState new_state, ApproachingEmergencyVehicleEvent source_event)
	Function to change the current state and log the details of the transition. More...

Private Attributes
ApproachingEmergencyVehicleState	state_ = ApproachingEmergencyVehicleState::NO_APPROACHING_ERV
	Current state. This state should only ever be set using the setAndLogState() function. More...

TransitionCallback	transition_callback_

Detailed Description

Class defining the state transition table behavior for the ApproachingEmergencyVehiclePlugin.

Definition at line 28 of file approaching_emergency_vehicle_transition_table.hpp.

Member Typedef Documentation

◆ TransitionCallback

using approaching_emergency_vehicle_plugin::ApproachingEmergencyVehicleTransitionTable::TransitionCallback = std::function<void(ApproachingEmergencyVehicleState prev_state, ApproachingEmergencyVehicleState new_state, ApproachingEmergencyVehicleEvent event)>

Definition at line 31 of file approaching_emergency_vehicle_transition_table.hpp.

Constructor & Destructor Documentation

◆ ApproachingEmergencyVehicleTransitionTable()

approaching_emergency_vehicle_plugin::ApproachingEmergencyVehicleTransitionTable::ApproachingEmergencyVehicleTransitionTable ( )

default

ApproachingEmergencyVehicleTransitionTable Constructor.

Parameters

mode	Defines the operational mode of the state machine which modifies some of the state transitions

Member Function Documentation

◆ event()

void approaching_emergency_vehicle_plugin::ApproachingEmergencyVehicleTransitionTable::event ( ApproachingEmergencyVehicleEvent event )

Trigger event for the transition table.

Parameters

event The event for the transition table to evaluate

Definition at line 27 of file approaching_emergency_vehicle_transition_table.cpp.

{
  switch (state_)
  {
    case ApproachingEmergencyVehicleState::NO_APPROACHING_ERV:
      eventWhenNO_APPROACHING_ERV(event);
      break;
 
    case ApproachingEmergencyVehicleState::MOVING_OVER_FOR_APPROACHING_ERV:
      eventWhenMOVING_OVER_FOR_APPROACHING_ERV(event);
      break;
 
    case ApproachingEmergencyVehicleState::SLOWING_DOWN_FOR_ERV:
      eventWhenSLOWING_DOWN_FOR_ERV(event);
      break;
 
    default:
      throw std::invalid_argument("Transition table in unsupported state");
  }
}

References event(), eventWhenMOVING_OVER_FOR_APPROACHING_ERV(), eventWhenNO_APPROACHING_ERV(), eventWhenSLOWING_DOWN_FOR_ERV(), approaching_emergency_vehicle_plugin::MOVING_OVER_FOR_APPROACHING_ERV, approaching_emergency_vehicle_plugin::NO_APPROACHING_ERV, approaching_emergency_vehicle_plugin::SLOWING_DOWN_FOR_ERV, and state_.

Referenced by approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::checkForErvTimeout(), event(), eventWhenMOVING_OVER_FOR_APPROACHING_ERV(), eventWhenNO_APPROACHING_ERV(), eventWhenSLOWING_DOWN_FOR_ERV(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::getSecondsUntilPassing(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::incomingBsmCallback(), logDebugEvent(), and approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::plan_maneuvers_callback().

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◆ eventWhenMOVING_OVER_FOR_APPROACHING_ERV()

void approaching_emergency_vehicle_plugin::ApproachingEmergencyVehicleTransitionTable::eventWhenMOVING_OVER_FOR_APPROACHING_ERV ( ApproachingEmergencyVehicleEvent event )

private

Definition at line 79 of file approaching_emergency_vehicle_transition_table.cpp.

{
  switch (event)
  {
    case ApproachingEmergencyVehicleEvent::ERV_UPDATE_TIMEOUT:
      setAndLogState(ApproachingEmergencyVehicleState::NO_APPROACHING_ERV, event);
      break;
 
    case ApproachingEmergencyVehicleEvent::NO_APPROACHING_ERV:
      setAndLogState(ApproachingEmergencyVehicleState::NO_APPROACHING_ERV, event);
      break;
 
    case ApproachingEmergencyVehicleEvent::APPROACHING_ERV_IN_PATH:
      setAndLogState(ApproachingEmergencyVehicleState::MOVING_OVER_FOR_APPROACHING_ERV, event);
      break;
 
    case ApproachingEmergencyVehicleEvent::APPROACHING_ERV_NOT_IN_PATH:
      setAndLogState(ApproachingEmergencyVehicleState::SLOWING_DOWN_FOR_ERV, event);
      break;
 
    case ApproachingEmergencyVehicleEvent::ERV_PASSING_IN_PATH:
      setAndLogState(ApproachingEmergencyVehicleState::SLOWING_DOWN_FOR_ERV, event);
      break;
 
    default:
      logDebugEvent(event);
      break;
  }
}

References approaching_emergency_vehicle_plugin::APPROACHING_ERV_IN_PATH, approaching_emergency_vehicle_plugin::APPROACHING_ERV_NOT_IN_PATH, approaching_emergency_vehicle_plugin::ERV_PASSING_IN_PATH, approaching_emergency_vehicle_plugin::ERV_UPDATE_TIMEOUT, event(), logDebugEvent(), approaching_emergency_vehicle_plugin::MOVING_OVER_FOR_APPROACHING_ERV, approaching_emergency_vehicle_plugin::NO_APPROACHING_ERV, setAndLogState(), and approaching_emergency_vehicle_plugin::SLOWING_DOWN_FOR_ERV.

Referenced by event().

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◆ eventWhenNO_APPROACHING_ERV()

void approaching_emergency_vehicle_plugin::ApproachingEmergencyVehicleTransitionTable::eventWhenNO_APPROACHING_ERV ( ApproachingEmergencyVehicleEvent event )

private

Definition at line 53 of file approaching_emergency_vehicle_transition_table.cpp.

{
  switch (event)
  {
    case ApproachingEmergencyVehicleEvent::NO_APPROACHING_ERV:
      setAndLogState(ApproachingEmergencyVehicleState::NO_APPROACHING_ERV, event);
      break;
 
    case ApproachingEmergencyVehicleEvent::APPROACHING_ERV_IN_PATH:
      setAndLogState(ApproachingEmergencyVehicleState::MOVING_OVER_FOR_APPROACHING_ERV, event);
      break;
 
    case ApproachingEmergencyVehicleEvent::APPROACHING_ERV_NOT_IN_PATH:
      setAndLogState(ApproachingEmergencyVehicleState::SLOWING_DOWN_FOR_ERV, event);
      break;
 
    case ApproachingEmergencyVehicleEvent::ERV_PASSING_IN_PATH:
      setAndLogState(ApproachingEmergencyVehicleState::SLOWING_DOWN_FOR_ERV, event);
      break;
 
    default:
      logDebugEvent(event);
      break;
  }
}

References approaching_emergency_vehicle_plugin::APPROACHING_ERV_IN_PATH, approaching_emergency_vehicle_plugin::APPROACHING_ERV_NOT_IN_PATH, approaching_emergency_vehicle_plugin::ERV_PASSING_IN_PATH, event(), logDebugEvent(), approaching_emergency_vehicle_plugin::MOVING_OVER_FOR_APPROACHING_ERV, approaching_emergency_vehicle_plugin::NO_APPROACHING_ERV, setAndLogState(), and approaching_emergency_vehicle_plugin::SLOWING_DOWN_FOR_ERV.

Referenced by event().

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◆ eventWhenSLOWING_DOWN_FOR_ERV()

void approaching_emergency_vehicle_plugin::ApproachingEmergencyVehicleTransitionTable::eventWhenSLOWING_DOWN_FOR_ERV ( ApproachingEmergencyVehicleEvent event )

private

Definition at line 109 of file approaching_emergency_vehicle_transition_table.cpp.

{
  switch (event)
  {
    case ApproachingEmergencyVehicleEvent::ERV_UPDATE_TIMEOUT:
      setAndLogState(ApproachingEmergencyVehicleState::NO_APPROACHING_ERV, event);
      break;
 
    case ApproachingEmergencyVehicleEvent::NO_APPROACHING_ERV:
      setAndLogState(ApproachingEmergencyVehicleState::NO_APPROACHING_ERV, event);
      break;
 
    case ApproachingEmergencyVehicleEvent::APPROACHING_ERV_IN_PATH:
      setAndLogState(ApproachingEmergencyVehicleState::MOVING_OVER_FOR_APPROACHING_ERV, event);
      break;
 
    case ApproachingEmergencyVehicleEvent::APPROACHING_ERV_NOT_IN_PATH:
      setAndLogState(ApproachingEmergencyVehicleState::SLOWING_DOWN_FOR_ERV, event);
      break;
 
    case ApproachingEmergencyVehicleEvent::ERV_PASSING_IN_PATH:
      setAndLogState(ApproachingEmergencyVehicleState::SLOWING_DOWN_FOR_ERV, event);
      break;
 
    case ApproachingEmergencyVehicleEvent::ERV_PASSED:
      setAndLogState(ApproachingEmergencyVehicleState::NO_APPROACHING_ERV, event);
      break;
 
    default:
      logDebugEvent(event);
      break;
  }
}

Referenced by event().

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◆ getState()

ApproachingEmergencyVehicleState approaching_emergency_vehicle_plugin::ApproachingEmergencyVehicleTransitionTable::getState ( ) const

Returns the current state.

Returns: Current state

Definition at line 22 of file approaching_emergency_vehicle_transition_table.cpp.

{
  return state_;
}

References state_.

Referenced by approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::generateApproachingErvStatusMessage(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::getSecondsUntilPassing(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::plan_maneuvers_callback(), and approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::publishHazardLightStatus().

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◆ logDebugEvent()

void approaching_emergency_vehicle_plugin::ApproachingEmergencyVehicleTransitionTable::logDebugEvent ( ApproachingEmergencyVehicleEvent event ) const

private

Helper function for logging the provide event.

Parameters

event The event to be logged

Definition at line 143 of file approaching_emergency_vehicle_transition_table.cpp.

{
  RCLCPP_INFO_STREAM(rclcpp::get_logger("approaching_emergency_vehicle_plugin"), "ApproachingEmergencyVehicleTransitionTable received unsupported event of " << event << " while in state "
                                                                                  << state_);
}

References event(), and state_.

Referenced by eventWhenMOVING_OVER_FOR_APPROACHING_ERV(), eventWhenNO_APPROACHING_ERV(), and eventWhenSLOWING_DOWN_FOR_ERV().

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◆ setAndLogState()

void approaching_emergency_vehicle_plugin::ApproachingEmergencyVehicleTransitionTable::setAndLogState	(	ApproachingEmergencyVehicleState	new_state,
		ApproachingEmergencyVehicleEvent	source_event
	)

private

Function to change the current state and log the details of the transition.

Parameters

new_state	The state to set.
source_event	The event which caused the new_state to be set

Definition at line 149 of file approaching_emergency_vehicle_transition_table.cpp.

{
  if (new_state == state_)
  {
    return;  // State was unchanged no need to log or trigger callbacks
  }
 
  RCLCPP_INFO_STREAM(rclcpp::get_logger("approaching_emergency_vehicle_plugin"), "ApproachingEmergencyVehicleTransitionTable changed ApproachingEmergencyVehicle Strategic Plugin state from "
                  << state_ << " to " << new_state << " because of event " << source_event);
 
  ApproachingEmergencyVehicleState prev_state = state_;
  state_ = new_state; // Set new state
  
  if (transition_callback_) // Trigger callback if available
  {
    transition_callback_(prev_state, state_, source_event);
  }
}