prbt_hardware_support::Stop1Executor Class Reference

Performs service calls for Stop1 and the respective reversal, that is enabling the manipulator. Incoming updates of the RUN_PERMITTED state are handled asynchronously. More...

#include <stop1_executor.h>

Inheritance diagram for prbt_hardware_support::Stop1Executor:

Public Member Functions
	Stop1Executor (const TServiceCallFunc &hold_func, const TServiceCallFunc &unhold_func, const TServiceCallFunc &recover_func, const TServiceCallFunc &halt_func)
	Create required service clients and state machine; start worker-thread and state machine. More...
void	updateRunPermitted (const bool run_permitted)
	This is called everytime an updated run_permitted value is obtained. More...
bool	updateRunPermittedCallback (std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res)
virtual	~Stop1Executor ()
	Stop state machine and terminate worker-thread. More...

Protected Member Functions
void	stopStateMachine ()
	Stop the state machine. More...

Private Member Functions
void	workerThreadFun ()
	This is executed in the worker-thread and allows asynchronous handling of run_permitted updates. More...

Private Attributes
std::mutex	sm_mutex_
std::unique_ptr< RunPermittedStateMachine >	state_machine_
	State machine. More...
std::atomic_bool	terminate_ { false }
	Flag indicating if the worker-thread should terminate. More...
std::condition_variable	worker_cv_
	Condition variable for notifying a waiting worker-thread. More...
std::thread	worker_thread_
	Worker-thread. More...

Detailed Description

Performs service calls for Stop1 and the respective reversal, that is enabling the manipulator. Incoming updates of the RUN_PERMITTED state are handled asynchronously.

In order to handle the asynchrony of events, a state machine is used to represent the current state. The state machine manages a task queue for the currently required service call.

General behaviour:

• RUN_PERMITTED == false: perfom Stop1 (hold controller + halt drives)
• RUN_PERMITTED == true: recover drives + unhold controller

Note

Unhold the controller is skipped if RUN_PERMITTED changes during recover. This avoids the superfluous execution of a hold trajectory, which would result in an overlong stopping time.

If a service call fails, the execution is always continued in order to make a Stop1 or a recover-retry possible.

Remarks

this class is templated for easier mocking. However for usability it can be used by AdapterSto

Definition at line 60 of file stop1_executor.h.

Constructor & Destructor Documentation

Stop1Executor()

prbt_hardware_support::Stop1Executor::Stop1Executor	(	const TServiceCallFunc &	hold_func,
		const TServiceCallFunc &	unhold_func,
		const TServiceCallFunc &	recover_func,
		const TServiceCallFunc &	halt_func
	)

Create required service clients and state machine; start worker-thread and state machine.

Definition at line 22 of file stop1_executor.cpp.

~Stop1Executor()

prbt_hardware_support::Stop1Executor::~Stop1Executor ( )

virtual

Stop state machine and terminate worker-thread.

Definition at line 33 of file stop1_executor.cpp.

Member Function Documentation

stopStateMachine()

void prbt_hardware_support::Stop1Executor::stopStateMachine ( )

inlineprotected

Stop the state machine.

Note

The access modifier protected allows this method to be used in tests.

Definition at line 131 of file stop1_executor.h.

updateRunPermitted()

void prbt_hardware_support::Stop1Executor::updateRunPermitted

(

const bool

run_permitted

)

This is called everytime an updated run_permitted value is obtained.

Process run_permitted_updated event and notify worker-thread in case it is waiting for new required tasks.

Note

Access to the state machine is protected for thread-safety.

Parameters

run_permitted

The updated run_permitted value.

Definition at line 48 of file stop1_executor.cpp.

updateRunPermittedCallback()

bool prbt_hardware_support::Stop1Executor::updateRunPermittedCallback	(	std_srvs::SetBool::Request &	req,
		std_srvs::SetBool::Response &	res
	)

Definition at line 58 of file stop1_executor.cpp.

workerThreadFun()

void prbt_hardware_support::Stop1Executor::workerThreadFun ( )

private

This is executed in the worker-thread and allows asynchronous handling of run_permitted updates.

Wait for notification if the task queue of the state machine is empty. Once a task is present, execute it and signal its completion.

Note

Access to the state machine is protected for thread-safety. It is assumed that task execution does not access the state machine, whereas the completion signalling does.

Definition at line 65 of file stop1_executor.cpp.

Member Data Documentation

sm_mutex_

std::mutex prbt_hardware_support::Stop1Executor::sm_mutex_

private

Mutex for protecting access to the state machine, needs to be owned when triggering an event of the state machine

Definition at line 122 of file stop1_executor.h.

state_machine_

std::unique_ptr<RunPermittedStateMachine> prbt_hardware_support::Stop1Executor::state_machine_

private

State machine.

Definition at line 115 of file stop1_executor.h.

terminate_

std::atomic_bool prbt_hardware_support::Stop1Executor::terminate_ { false }

private

Flag indicating if the worker-thread should terminate.

Definition at line 118 of file stop1_executor.h.

worker_cv_

std::condition_variable prbt_hardware_support::Stop1Executor::worker_cv_

private

Condition variable for notifying a waiting worker-thread.

Definition at line 125 of file stop1_executor.h.

worker_thread_

std::thread prbt_hardware_support::Stop1Executor::worker_thread_

private

Worker-thread.

Definition at line 128 of file stop1_executor.h.

---

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

• stop1_executor.h
• stop1_executor.cpp