estop.h
Go to the documentation of this file.00001 /* -*- mode: C++ -*- 00002 * 00003 * Navigator E-stop controller finite state machine 00004 * 00005 * Copyright (C) 2007, 2010, Austin Robot Technology 00006 * 00007 * License: Modified BSD Software License Agreement 00008 * 00009 * $Id: estop.h 1027 2011-03-06 16:19:07Z jack.oquin $ 00010 */ 00011 00012 #ifndef __ESTOP_HH__ 00013 #define __ESTOP_HH__ 00014 00015 #include <art_nav/NavEstopState.h> 00016 00017 #include "Controller.h" 00018 #include "NavEstopEvent.h" 00019 00020 // forward declarations for subordinate classes 00021 class Halt; 00022 class Run; 00023 00024 class Estop: public Controller 00025 { 00026 public: 00027 00028 Estop(Navigator *navptr, int _verbose); 00029 ~Estop(); 00030 result_t control(pilot_command_t &pcmd); 00031 void reset(void); 00032 00033 NavEstopState State(void) 00034 { 00035 return state; 00036 } 00037 00038 private: 00039 00040 // state transition action method pointer 00041 typedef result_t (Estop::*action_t)(pilot_command_t &pcmd); 00042 00043 // state transition table entry 00044 typedef struct 00045 { 00046 NavEstopState next; 00047 action_t action; 00048 } transtion_t; 00049 00050 NavEstopEvent event; 00051 NavEstopEvent pending_event; 00052 NavEstopState prev; 00053 NavEstopState state; 00054 transtion_t ttable[NavEstopEvent::N_events][NavEstopState::N_states]; 00055 00056 // subordinate controllers 00057 Halt *halt; 00058 Run *run; 00059 00060 // private methods 00061 00062 // add a transition to the table 00063 void Add(NavEstopEvent::event_t event, action_t action, 00064 NavEstopState::state_t from_state, NavEstopState::state_t to_state); 00065 00066 // return highest-priority current event 00067 NavEstopEvent current_event(void); 00068 void reset_me(void); 00069 00071 // state transition action methods 00073 00074 result_t ActionError(pilot_command_t &pcmd); 00075 00076 // steady state actions 00077 00078 result_t ActionInDone(pilot_command_t &pcmd); 00079 result_t ActionInPause(pilot_command_t &pcmd); 00080 result_t ActionInRun(pilot_command_t &pcmd); 00081 result_t ActionInSuspend(pilot_command_t &pcmd); 00082 00083 // state entry actions 00084 00085 result_t ActionToAbort(pilot_command_t &pcmd); 00086 result_t ActionToDone(pilot_command_t &pcmd); 00087 result_t ActionToPause(pilot_command_t &pcmd); 00088 result_t ActionToRun(pilot_command_t &pcmd); 00089 result_t ActionToSuspend(pilot_command_t &pcmd); 00090 }; 00091 00092 #endif // __ESTOP_HH__