#include <ExecControl.hpp>

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 struct labust::control::ExecControl::ControllerInfo labust::control::ExecControl::ControllerInfo [private]

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

ExecControl::ExecControl ( )

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 157 of file ExecControl.cpp.

void labust::control::ExecControl::find_path ( )

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 349 of file ExecControl.cpp.

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

Definition at line 240 of file ExecControl.cpp.

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

Calculates the firing sequence to enable a desired controller.

Definition at line 351 of file ExecControl.cpp.

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

Definition at line 354 of file ExecControl.cpp.

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

Activate controller tester.

Definition at line 213 of file ExecControl.cpp.

void ExecControl::onInit ( )

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.

void ExecControl::reachability ( )

Calculates the reachability graph.

Definition at line 384 of file ExecControl.cpp.

Member Data Documentation

ros::Subscriber labust::control::ExecControl::activateController

The subscribed topics.

Definition at line 283 of file ExecControl.hpp.

std::list<std::string> labust::control::ExecControl::active_cnt

Active controllers.

Definition at line 316 of file ExecControl.hpp.

std::string labust::control::ExecControl::active_dof[6]

Active dofs.

Definition at line 312 of file ExecControl.hpp.

ControllerMap labust::control::ExecControl::controllers

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

Definition at line 304 of file ExecControl.hpp.

ExecDepGraph labust::control::ExecControl::depGraph

The dependency graph tool.

Definition at line 352 of file ExecControl.hpp.

ros::Publisher labust::control::ExecControl::depGraphPub

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.

Eigen::MatrixXi labust::control::ExecControl::Dm

PN matrices.

Definition at line 336 of file ExecControl.hpp.

Eigen::MatrixXi labust::control::ExecControl::Dp

Definition at line 336 of file ExecControl.hpp.

std::vector<int> labust::control::ExecControl::firing_seq

The last firing sequence.

Definition at line 348 of file ExecControl.hpp.

GraphType labust::control::ExecControl::graph

The controller dependency graph.

Definition at line 320 of file ExecControl.hpp.