#include <route_state_worker.hpp>

Collaboration diagram for route::RouteStateWorker:

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 118 of file route_state_worker.hpp.

Constructor & Destructor Documentation

◆ RouteStateWorker()

route::RouteStateWorker::RouteStateWorker ( )

default

Member Function Documentation

◆ getRouteState()

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: "
            << static_cast<RouteEvent>(event) << " transitioning from: "
            << static_cast<RouteState>(old_state) << " to: "
            << static_cast<RouteState>(state_));
    }