Class defining the state transition table behavior for the LCIStrategic Strategic Plugin. More...

#include <lci_state_transition_table.hpp>

Collaboration diagram for lci_strategic_plugin::LCIStrategicStateTransitionTable:

Public Types
using	TransitionCallback = std::function< void(TransitState prev_state, TransitState new_state, TransitEvent signal)>

Public Member Functions
	LCIStrategicStateTransitionTable ()=default
	Default Constructor. More...

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

void	signal (TransitEvent signal)
	Trigger signal 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	signalWhenUNAVAILABLE (TransitEvent signal)

void	signalWhenAPPROACHING (TransitEvent signal)

void	signalWhenWAITING (TransitEvent signal)

void	signalWhenDEPARTING (TransitEvent signal)

void	logDebugSignal (TransitEvent signal) const
	Helper function for logging the provide signal. More...

void	setAndLogState (TransitState new_state, TransitEvent source_signal)
	Function to change the current state and log the details of the transition. More...

Private Attributes
TransitState	state_ = TransitState::UNAVAILABLE
	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 LCIStrategic Strategic Plugin.

Definition at line 25 of file lci_state_transition_table.hpp.

Member Typedef Documentation

◆ TransitionCallback

using lci_strategic_plugin::LCIStrategicStateTransitionTable::TransitionCallback = std::function<void(TransitState prev_state, TransitState new_state, TransitEvent signal)>

Definition at line 28 of file lci_state_transition_table.hpp.

Constructor & Destructor Documentation

◆ LCIStrategicStateTransitionTable()

lci_strategic_plugin::LCIStrategicStateTransitionTable::LCIStrategicStateTransitionTable ( )

default

Default Constructor.

Member Function Documentation

◆ getState()

TransitState lci_strategic_plugin::LCIStrategicStateTransitionTable::getState ( ) const

Returns the current state.

Returns: Current state

Definition at line 29 of file lci_state_transition_table.cpp.

{
  return state_;
}

References state_.

Referenced by lci_strategic_plugin::LCIStrategicPlugin::plan_maneuvers_callback().

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◆ logDebugSignal()

void lci_strategic_plugin::LCIStrategicStateTransitionTable::logDebugSignal ( TransitEvent signal ) const

private

Helper function for logging the provide signal.

Parameters

signal The signal to be logged

Definition at line 118 of file lci_state_transition_table.cpp.

{
  RCLCPP_DEBUG_STREAM(rclcpp::get_logger("lci_strategic_plugin"), "LCIStrategicStateTransitionTable received unsupported signal of " << signal << " while in state "
                                                                                  << state_);
}

References signal(), and state_.

Referenced by signalWhenAPPROACHING(), signalWhenDEPARTING(), signalWhenUNAVAILABLE(), and signalWhenWAITING().

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◆ setAndLogState()

void lci_strategic_plugin::LCIStrategicStateTransitionTable::setAndLogState	(	TransitState	new_state,
		TransitEvent	source_signal
	)

private

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

Parameters

new_state	The state to set.
source_signal	The signal which caused the new_state to be set

Definition at line 124 of file lci_state_transition_table.cpp.

{
  if (new_state == state_)
  {
    return;  // State was unchanged no need to log or trigger callbacks
  }
 
  RCLCPP_INFO_STREAM(rclcpp::get_logger("lci_strategic_plugin"), "LCIStrategicStateTransitionTable changed LCIStrategic Strategic Plugin state from "
                  << state_ << " to " << new_state << " because of signal " << source_signal);
 
  TransitState prev_state = state_;
  state_ = new_state; // Set new state
  
  if (transition_callback_) // Trigger callback if available
  {
    transition_callback_(prev_state, state_, source_signal);
  }
}

References state_, and transition_callback_.

Referenced by signalWhenAPPROACHING(), signalWhenDEPARTING(), signalWhenUNAVAILABLE(), and signalWhenWAITING().

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◆ setTransitionCallback()

void lci_strategic_plugin::LCIStrategicStateTransitionTable::setTransitionCallback ( TransitionCallback cb )

Callback setting function. The provided callback will be triggered any time the current state changes to a new state.

Parameters

cb	The callback function which will be provided with the previous state, new current state, and the signal which caused the transition.

Definition at line 59 of file lci_state_transition_table.cpp.

{
  transition_callback_ = cb;
}

References transition_callback_.

◆ signal()

void lci_strategic_plugin::LCIStrategicStateTransitionTable::signal ( TransitEvent signal )

Trigger signal for the transition table.

Parameters

signal The signal for the transition table to evaluate

Definition at line 34 of file lci_state_transition_table.cpp.

{
  switch (state_)
  {
    case TransitState::UNAVAILABLE:
      signalWhenUNAVAILABLE(signal);
      break;
 
    case TransitState::APPROACHING:
      signalWhenAPPROACHING(signal);
      break;
 
    case TransitState::WAITING:
      signalWhenWAITING(signal);
      break;
 
    case TransitState::DEPARTING:
      signalWhenDEPARTING(signal);
      break;
 
    default:
      throw std::invalid_argument("Transition table in unsupported state");
  }
}

References lci_strategic_plugin::APPROACHING, lci_strategic_plugin::DEPARTING, signal(), signalWhenAPPROACHING(), signalWhenDEPARTING(), signalWhenUNAVAILABLE(), signalWhenWAITING(), state_, lci_strategic_plugin::UNAVAILABLE, and lci_strategic_plugin::WAITING.

Referenced by logDebugSignal(), lci_strategic_plugin::LCIStrategicPlugin::planWhenAPPROACHING(), lci_strategic_plugin::LCIStrategicPlugin::planWhenDEPARTING(), lci_strategic_plugin::LCIStrategicPlugin::planWhenUNAVAILABLE(), lci_strategic_plugin::LCIStrategicPlugin::planWhenWAITING(), signal(), signalWhenAPPROACHING(), signalWhenDEPARTING(), signalWhenUNAVAILABLE(), and signalWhenWAITING().

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◆ signalWhenAPPROACHING()

void lci_strategic_plugin::LCIStrategicStateTransitionTable::signalWhenAPPROACHING ( TransitEvent signal )

private

Definition at line 76 of file lci_state_transition_table.cpp.

{
  switch (signal)
  {
    case TransitEvent::STOPPED:
      setAndLogState(TransitState::WAITING, signal);
      break;
 
    case TransitEvent::CROSSED_STOP_BAR:
      setAndLogState(TransitState::DEPARTING, signal);
      break;
 
    default:
      logDebugSignal(signal);
      break;
  }
}

References lci_strategic_plugin::CROSSED_STOP_BAR, lci_strategic_plugin::DEPARTING, logDebugSignal(), setAndLogState(), signal(), lci_strategic_plugin::STOPPED, and lci_strategic_plugin::WAITING.

Referenced by signal().

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◆ signalWhenDEPARTING()

void lci_strategic_plugin::LCIStrategicStateTransitionTable::signalWhenDEPARTING ( TransitEvent signal )

private

Definition at line 106 of file lci_state_transition_table.cpp.

{
  if (signal == TransitEvent::INTERSECTION_EXIT)
  {
    setAndLogState(TransitState::UNAVAILABLE, signal);
  }
  else
  {
    logDebugSignal(signal);
  }
}

References lci_strategic_plugin::INTERSECTION_EXIT, logDebugSignal(), setAndLogState(), signal(), and lci_strategic_plugin::UNAVAILABLE.

Referenced by signal().

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◆ signalWhenUNAVAILABLE()

void lci_strategic_plugin::LCIStrategicStateTransitionTable::signalWhenUNAVAILABLE ( TransitEvent signal )

private

Definition at line 64 of file lci_state_transition_table.cpp.

{
  if (signal == TransitEvent::IN_STOPPING_RANGE)
  {
    setAndLogState(TransitState::APPROACHING, signal);
  }
  else
  {
    logDebugSignal(signal);
  }
}

References lci_strategic_plugin::APPROACHING, lci_strategic_plugin::IN_STOPPING_RANGE, logDebugSignal(), setAndLogState(), and signal().

Referenced by signal().

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◆ signalWhenWAITING()

void lci_strategic_plugin::LCIStrategicStateTransitionTable::signalWhenWAITING ( TransitEvent signal )

private

Definition at line 94 of file lci_state_transition_table.cpp.

{
  if (signal == TransitEvent::RED_TO_GREEN_LIGHT)
  {
    setAndLogState(TransitState::DEPARTING, signal);
  }
  else
  {
    logDebugSignal(signal);
  }
}