#include <route_state_worker.hpp>

Collaboration diagram for route::RouteStateWorker:

Public Types
enum	RouteEvent { ROUTE_LOADED = 0 , ROUTE_SELECTED = 1 , ROUTE_STARTED = 2 , ROUTE_COMPLETED = 3 , ROUTE_DEPARTED = 4 , ROUTE_ABORTED = 5 , ROUTE_GEN_FAILED = 6 , ROUTE_INVALIDATION = 7 }

enum	RouteState { LOADING = 0 , SELECTION = 1 , ROUTING = 2 , FOLLOWING = 3 }

Public Member Functions
	RouteStateWorker ()=default

void	onRouteEvent (RouteEvent event)
	Process route event based on designed state machine diagram. More...

RouteState	getRouteState () const
	Get current route state machine state. More...

void	setLoggerInterface (rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logger)

Private Attributes
RouteState	state_ = RouteState::LOADING

rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr	logger_

Detailed Description

Definition at line 24 of file route_state_worker.hpp.

Member Enumeration Documentation

◆ RouteEvent

enum route::RouteStateWorker::RouteEvent

Possible events for the RouteStateWorker to respond to: ROUTE_LOADED - Route worker received all necessary parameters and loaded route file path ROUTE_SELECTED - A route file has been selected by user ROUTE_STARTED - A route is generated by provided route file ROUTE_COMPLETED - Reached the destination of current route ROUTE_DEPARTED - Vehicle has deviated from the route ROUTE_ABORTED - User decides to stop following the current route ROUTE_GEN_FAILED - No route can be generated based on provided route file ROUTE_INVALIDATION - Certain portion of the route is invalidated based on situation.

Enumerator
ROUTE_LOADED
ROUTE_SELECTED
ROUTE_STARTED
ROUTE_COMPLETED
ROUTE_DEPARTED
ROUTE_ABORTED
ROUTE_GEN_FAILED
ROUTE_INVALIDATION

Definition at line 39 of file route_state_worker.hpp.

                            {
                ROUTE_LOADED = 0,
                ROUTE_SELECTED = 1,
                ROUTE_STARTED = 2,
                ROUTE_COMPLETED = 3,
                ROUTE_DEPARTED = 4,
                ROUTE_ABORTED = 5,
                ROUTE_GEN_FAILED = 6,
                ROUTE_INVALIDATION = 7,
            };

◆ RouteState

enum route::RouteStateWorker::RouteState

Possible states of the RouteStateWorker: LOADING - RouteState worker's initial state, waiting for all necessary parameters to be set SELECTION - RouteState worker is waiting on user to select a route ROUTING - Calling lanelet2 library to generate a route based on selected route file FOLLOWING - Following a route and tracking its downtrack and crosstrack distance

Enumerator
LOADING
SELECTION
ROUTING
FOLLOWING

Definition at line 57 of file route_state_worker.hpp.

                            {
                LOADING = 0,
                SELECTION = 1,
                ROUTING = 2,
                FOLLOWING = 3,
            };

Constructor & Destructor Documentation

◆ RouteStateWorker()

route::RouteStateWorker::RouteStateWorker ( )

default

Member Function Documentation

◆ getRouteState()

RouteStateWorker::RouteState route::RouteStateWorker::getRouteState ( ) const

Get current route state machine state.

Definition at line 21 of file route_state_worker.cpp.

                                                                     {
        return state_;
    }

References state_.

Referenced by route::RouteGeneratorWorker::abortActiveRouteCb(), route::RouteGeneratorWorker::bumperPoseCb(), route::RouteGeneratorWorker::getAvailableRouteCb(), route::RouteGeneratorWorker::setActiveRouteCb(), and route::RouteGeneratorWorker::spinCallback().

Here is the caller graph for this function:

◆ onRouteEvent()

void route::RouteStateWorker::onRouteEvent ( RouteEvent event )

Process route event based on designed state machine diagram.

Parameters

event Incoming route event

Definition at line 25 of file route_state_worker.cpp.

                                                        {
        
        auto old_state = state_;
 
        switch (state_)
        {
        case RouteState::LOADING:
            if(event == RouteEvent::ROUTE_LOADED)
            {
                state_ = RouteState::SELECTION;
            }
            break;
        case RouteState::SELECTION:
            if(event == RouteEvent::ROUTE_SELECTED)
            {
                state_ = RouteState::ROUTING;
            }
            break;
        case RouteState::ROUTING:
            if(event == RouteEvent::ROUTE_STARTED)
            {
                state_ = RouteState::FOLLOWING;
            } else if(event == RouteEvent::ROUTE_GEN_FAILED)
            {
                state_ = RouteState::SELECTION;
            }
            break;
        case RouteState::FOLLOWING:
            if(event == RouteEvent::ROUTE_COMPLETED || event == RouteEvent::ROUTE_DEPARTED || event == RouteEvent::ROUTE_ABORTED)
            {
                state_ = RouteState::LOADING;
            } 
            else if(event == RouteEvent::ROUTE_INVALIDATION)
            {
                state_ = RouteState::ROUTING;
            }
            break;
        default:
            // should not reach here
            throw std::invalid_argument("Current state is illegal: " + std::to_string(state_));
        }
 
        RCLCPP_INFO_STREAM(logger_->get_logger(), "Received Route Event: " << event << " transitioning from: " << old_state << " to: " << state_);
    }