#include <lightbar_manager_sm.hpp>

Collaboration diagram for lightbar_manager::LightBarManagerStateMachine:

Public Member Functions
	LightBarManagerStateMachine ()
	Default constructor for LightBarManagerStateMachine. More...

void	next (const LightBarEvent &event)
	Transition to the next state of the LightBarStateMachine. More...

LightBarState	getCurrentState ()
	Get current state machine status. More...

void	handleStateChange (const carma_planning_msgs::msg::GuidanceState &msg)
	This function triggers the transitioning to the next state in LightBarStateMachine based on the guidance state change. More...

Private Member Functions
void	onDisengage ()

void	onActive ()

void	onEngage ()

Private Attributes
uint8_t	guidance_state_ = carma_planning_msgs::msg::GuidanceState::SHUTDOWN

carma_ros2_utils::ClientPtr< carma_msgs::srv::ReleaseIndicatorControl >	request_control_client_

carma_ros2_utils::ClientPtr< carma_msgs::srv::RequestIndicatorControl >	release_control_client_

carma_ros2_utils::ClientPtr< carma_driver_msgs::srv::SetLightBarIndicator >	set_indicator_client_

LightBarState	current_state_ = DISENGAGED

Detailed Description

Definition at line 53 of file lightbar_manager_sm.hpp.

Constructor & Destructor Documentation

◆ LightBarManagerStateMachine()

lightbar_manager::LightBarManagerStateMachine::LightBarManagerStateMachine ( )

Default constructor for LightBarManagerStateMachine.

Definition at line 22 of file lightbar_manager_sm.cpp.

22{}

Member Function Documentation

◆ getCurrentState()

LightBarState lightbar_manager::LightBarManagerStateMachine::getCurrentState ( )

Get current state machine status.

Definition at line 114 of file lightbar_manager_sm.cpp.

{
    return current_state_;
}

References current_state_.

Referenced by lightbar_manager::LightBarManagerWorker::getCurrentState().

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◆ handleStateChange()

void lightbar_manager::LightBarManagerStateMachine::handleStateChange ( const carma_planning_msgs::msg::GuidanceState & msg )

This function triggers the transitioning to the next state in LightBarStateMachine based on the guidance state change.

Definition at line 62 of file lightbar_manager_sm.cpp.

{
    // Check if the msg is as same as before
    if (msg.state == guidance_state_)
        return;
    
    switch (msg.state)
    {
        case carma_planning_msgs::msg::GuidanceState::STARTUP:
        case carma_planning_msgs::msg::GuidanceState::SHUTDOWN:
            onDisengage();
            break;
 
        case carma_planning_msgs::msg::GuidanceState::ACTIVE:
        case carma_planning_msgs::msg::GuidanceState::DRIVERS_READY:
        case carma_planning_msgs::msg::GuidanceState::INACTIVE:
            onActive();
            break;
 
        case carma_planning_msgs::msg::GuidanceState::ENGAGED:
            onEngage();
            break;
 
        default:
            RCLCPP_WARN_STREAM(rclcpp::get_logger("lightbar_manager"),"LightBarManager received unknown state from guidance state machine:" << msg.state);
            break;
    }
    // Update the current state
    guidance_state_ = msg.state;
}

References lightbar_manager::ACTIVE, lightbar_manager::ENGAGED, guidance_state_, port_drayage_plugin::INACTIVE, onActive(), onDisengage(), onEngage(), and arbitrator::SHUTDOWN.

Referenced by lightbar_manager::LightBarManagerWorker::handleStateChange().

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◆ next()

void lightbar_manager::LightBarManagerStateMachine::next ( const LightBarEvent & event )

Transition to the next state of the LightBarStateMachine.

Definition at line 25 of file lightbar_manager_sm.cpp.

{
    // Set to DISENGAGED state if guidance is disingaged
    if(event == LightBarEvent::GUIDANCE_DISENGAGED) {
        current_state_ = DISENGAGED;
        
        return;
    }
 
    switch(current_state_)
    {
        case DISENGAGED:
            if(event == LightBarEvent::GUIDANCE_CONNECTED) {
                current_state_ = ACTIVE;
                
            }
            else if(event == LightBarEvent::GUIDANCE_ENGAGED) {
                current_state_ = ENGAGED;
                                    
            }
            break;
        case ENGAGED:
            if(event == LightBarEvent::GUIDANCE_DISCONNECTED) {
                current_state_ = ACTIVE;
                
            }
            break;
        case ACTIVE:
            if(event == LightBarEvent::GUIDANCE_ENGAGED) {
                current_state_ = ENGAGED;
            }
            break;
        default:
            break;
    }
}

References lightbar_manager::ACTIVE, current_state_, lightbar_manager::DISENGAGED, lightbar_manager::ENGAGED, lightbar_manager::GUIDANCE_CONNECTED, lightbar_manager::GUIDANCE_DISCONNECTED, lightbar_manager::GUIDANCE_DISENGAGED, and lightbar_manager::GUIDANCE_ENGAGED.

Referenced by lightbar_manager::LightBarManagerWorker::next(), onActive(), onDisengage(), and onEngage().

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◆ onActive()

void lightbar_manager::LightBarManagerStateMachine::onActive ( )

private

Definition at line 98 of file lightbar_manager_sm.cpp.

{
    // Transitioning FROM ENGAGED state to Active
    if (guidance_state_ == carma_planning_msgs::msg::GuidanceState::ENGAGED)
        next(GUIDANCE_DISCONNECTED);
    // Transitioning FROM all "OFF" states of guidance for lightbar (STARTUP, DRIVERS_READY, INACTIVE, OFF)
    else
        next(GUIDANCE_CONNECTED);
}