Classes | Public Member Functions | Public Attributes | Private Types
labust::control::ExecControl Class Reference

#include <ExecControl.hpp>

List of all members.

Classes

struct  ControllerInfo
struct  REdgeProperty
struct  RVertexProperty
struct  VertexProperty

Public Member Functions

void add_pn_edge (int i, int j, GraphType &graph)
void addToGraph (const std::string &name="")
void addToMatrix (const std::string &name)
 ExecControl ()
void find_path ()
bool firing_rec (int des_place, std::vector< int > &skip_transitions, std::vector< int > &visited_places)
bool firing_rec2 (int des_place, std::vector< int > &skip_transitions, std::vector< int > &visited_places)
void get_firing (const std::string &name)
void get_firing2 (const std::string &name)
void onActivateController (const std_msgs::String::ConstPtr &name)
void onInit ()
bool onRegisterController (navcon_msgs::RegisterController::Request &req, navcon_msgs::RegisterController::Response &resp)
void reachability ()

Public Attributes

ros::Subscriber activateController
std::list< std::string > active_cnt
std::string active_dof [6]
ControllerMap controllers
ExecDepGraph depGraph
ros::Publisher depGraphPub
Eigen::MatrixXi Dm
Eigen::MatrixXi Dp
std::vector< int > firing_seq
GraphType graph
Eigen::VectorXi marking
std::vector< std::string > names
std::map< int, std::string > pname
PNController pnCon
ExecPNGraph pnGraph
ros::Publisher pnGraphPub
int pnum
ros::ServiceServer registerController
RGraphType rgraph
int tnum

Private Types

enum  {
  u = 0, v, w, p,
  q, r
}
enum  {
  X = 0, Y, Z, K,
  M, N
}
enum  { alpha = 0, beta, betaa }
enum  { Kp = 0, Ki, Kd, Kt }
typedef struct
labust::control::ExecControl::ControllerInfo 
ControllerInfo
typedef std::map< std::string,
ControllerInfo
ControllerMap
typedef boost::adjacency_list
< boost::vecS, boost::vecS,
boost::directedS,
VertexProperty,
boost::property
< boost::edge_weight_t, int > > 
GraphType
typedef boost::adjacency_list
< boost::vecS, boost::vecS,
boost::directedS,
RVertexProperty, REdgeProperty
RGraphType

Detailed Description

The class contains the implementation of the execution controller that manages different controller dependencies and tracks variable publishing for safety applications.

Todo:

Add full dependency check.

Add unregister controller option.

Remove the named maps form helper classes and pass only the controller id number to classes.

When everythin is working, build dep and pn graphs directly from the petri-net matrices

Definition at line 67 of file ExecControl.hpp.


Member Typedef Documentation

typedef std::map<std::string, ControllerInfo> labust::control::ExecControl::ControllerMap [private]

Definition at line 87 of file ExecControl.hpp.

typedef boost::adjacency_list<boost::vecS, boost::vecS, boost::directedS, VertexProperty, boost::property < boost::edge_weight_t, int > > labust::control::ExecControl::GraphType [private]

Definition at line 120 of file ExecControl.hpp.

typedef boost::adjacency_list<boost::vecS, boost::vecS, boost::directedS, RVertexProperty, REdgeProperty > labust::control::ExecControl::RGraphType [private]

Definition at line 124 of file ExecControl.hpp.


Member Enumeration Documentation

anonymous enum [private]
Enumerator:
u 
v 
w 
p 
q 
r 

Definition at line 69 of file ExecControl.hpp.

anonymous enum [private]
Enumerator:
X 
Y 
Z 
K 
M 
N 

Definition at line 70 of file ExecControl.hpp.

anonymous enum [private]
Enumerator:
alpha 
beta 
betaa 

Definition at line 71 of file ExecControl.hpp.

anonymous enum [private]
Enumerator:
Kp 
Ki 
Kd 
Kt 

Definition at line 72 of file ExecControl.hpp.


Constructor & Destructor Documentation

Main constructor

Definition at line 49 of file ExecControl.cpp.


Member Function Documentation

void labust::control::ExecControl::add_pn_edge ( int  i,
int  j,
GraphType graph 
)

Helper method for ensuring PetriNet connections. It is always i->j

void labust::control::ExecControl::addToGraph ( const std::string &  name = "")

Builds the petri net graph.

void ExecControl::addToMatrix ( const std::string &  name)

Add to PN matrix.

Definition at line 140 of file ExecControl.cpp.

The helper function to find graph transitions.

bool ExecControl::firing_rec ( int  des_place,
std::vector< int > &  skip_transitions,
std::vector< int > &  visited_places 
)

Helper recursion function

Definition at line 330 of file ExecControl.cpp.

bool ExecControl::firing_rec2 ( int  des_place,
std::vector< int > &  skip_transitions,
std::vector< int > &  visited_places 
)

Definition at line 221 of file ExecControl.cpp.

void ExecControl::get_firing ( const std::string &  name)

Calculates the firing sequence to enable a desired controller.

Definition at line 332 of file ExecControl.cpp.

void ExecControl::get_firing2 ( const std::string &  name)

Definition at line 335 of file ExecControl.cpp.

void ExecControl::onActivateController ( const std_msgs::String::ConstPtr &  name)

Activate controller tester.

Definition at line 196 of file ExecControl.cpp.

Initialize and setup controller.

Definition at line 57 of file ExecControl.cpp.

bool ExecControl::onRegisterController ( navcon_msgs::RegisterController::Request &  req,
navcon_msgs::RegisterController::Response &  resp 
)

Performs one iteration. Start the controller loop. Handle incoming reference message. Handle incoming estimates message. Handle incoming estimates message. Handle incoming estimates message. Handle incoming estimates message. Handle controller registration.

Definition at line 80 of file ExecControl.cpp.

Calculates the reachability graph.

Definition at line 365 of file ExecControl.cpp.


Member Data Documentation

The subscribed topics.

Definition at line 283 of file ExecControl.hpp.

Active controllers.

Definition at line 316 of file ExecControl.hpp.

Active dofs.

Definition at line 312 of file ExecControl.hpp.

The dynamic reconfigure parameters. The dynamic reconfigure server. Variable access helper mass. The controller map.

Definition at line 304 of file ExecControl.hpp.

The dependency graph tool.

Definition at line 352 of file ExecControl.hpp.

Handle the enable control request. Dynamic reconfigure callback. The safety test. Update the dynamic reconfiguration settings. Perform the identification step. The ROS node handles. Last message times. Timeout Initialize the controller parameters etc. The velocity controllers. The identification controllers. The mesurement needed for identification. Joystick message. Joystick scaling. Enable/disable controllers, external windup flag. Timeout management. Dynamic reconfigure server. The publisher of the TAU message.

Definition at line 279 of file ExecControl.hpp.

PN matrices.

Definition at line 336 of file ExecControl.hpp.

Definition at line 336 of file ExecControl.hpp.

The last firing sequence.

Definition at line 348 of file ExecControl.hpp.

The controller dependency graph.

Definition at line 320 of file ExecControl.hpp.

Definition at line 340 of file ExecControl.hpp.

The controller names list.

Definition at line 308 of file ExecControl.hpp.

std::map<int, std::string> labust::control::ExecControl::pname

Map placenum to name.

Definition at line 344 of file ExecControl.hpp.

The Petri-Net controller.

Definition at line 360 of file ExecControl.hpp.

The petri-net graph tool.

Definition at line 356 of file ExecControl.hpp.

Definition at line 279 of file ExecControl.hpp.

The place num.

Definition at line 332 of file ExecControl.hpp.

High level controller service.

Definition at line 287 of file ExecControl.hpp.

The reachability graph

Definition at line 324 of file ExecControl.hpp.

The transition number.

Definition at line 328 of file ExecControl.hpp.


The documentation for this class was generated from the following files:


labust_execution
Author(s): Gyula Nagy
autogenerated on Fri Feb 7 2014 11:36:24