hugo/feature/Add reboot to EmergencyStooped #856
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Contributor
HPezz
commented
Jun 8, 2022
HPezz
commented
- ✨ (sm): Add EmergencyStopped State + Emergency Stop Event
- ⚡ (rc): Add on_entry EmergencyStopped State, RC turnOffActuators
- 🚸 (os): Link RFID event to SM event (Emergency Stop)
- 🚸 (sm): Add transition from EmergencyStopped to Working
- 🚸 (sm): Add transition from EmergencyStopped to Charging
- 🚸 (sm): Add transition from Charging to EmergencyStopped
- 🚸 (sm): Add transition from Idle to EmergencyStopped
- 🚸 (sm): Add transition from Sleeping to EmergencyStopped
- 🔥 (os): Remove Emergency stop logs and stop
- ✅ (tests): Add tests to cover up every transitions
- ⚡ (rc): Move reboot to RC
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Codecov Report
@@ Coverage Diff @@
## develop #856 +/- ##
===========================================
- Coverage 95.39% 95.36% -0.03%
===========================================
Files 115 115
Lines 2560 2568 +8
===========================================
+ Hits 2442 2449 +7
- Misses 118 119 +1
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YannLocatelli
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Jun 9, 2022
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ladislas
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Jun 9, 2022
| @@ -209,6 +209,8 @@ class RobotController : public interface::RobotController | |||
| stopActuators(); | |||
| } | |||
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| void resetEmergencyStopIteration() final { _emergency_stop_iteration = 0; } | |||
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Suggested change
| void resetEmergencyStopIteration() final { _emergency_stop_iteration = 0; } | |
| void resetEmergencyStopCounter() final { _emergency_stop_counter = 0; } |
| @@ -379,6 +388,8 @@ class RobotController : public interface::RobotController | |||
| &_service_battery, &_service_commands, &_service_device_information, | |||
| &_service_monitoring, &_service_file_reception, &_service_update, | |||
| }; | |||
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| uint8_t _emergency_stop_iteration {0}; | |||
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Suggested change
| uint8_t _emergency_stop_iteration {0}; | |
| uint8_t _emergency_stop_counter {0}; |
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| ++_emergency_stop_iteration; | ||
| raise(system::robot::sm::event::emergency_stop {}); | ||
| if (_emergency_stop_iteration >= 7) { |
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Suggested change
| ++_emergency_stop_iteration; | |
| raise(system::robot::sm::event::emergency_stop {}); | |
| if (_emergency_stop_iteration >= 7) { | |
| ++_emergency_stop_counter; | |
| raise(system::robot::sm::event::emergency_stop {}); | |
| if (_emergency_stop_counter >= 7) { |
libs/RobotKit/include/StateMachine.h
Outdated
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| struct reset_emergency_stop_iteration { | ||
| auto operator()(irc &rc) const { rc.resetEmergencyStopIteration(); } |
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| struct reset_emergency_stop_iteration { | |
| auto operator()(irc &rc) const { rc.resetEmergencyStopIteration(); } | |
| struct reset_emergency_stop_counter { | |
| auto operator()(irc &rc) const { rc.resetEmergencyStopCounter(); } |
| @@ -41,7 +41,8 @@ class RobotController | |||
| virtual auto isReadyToUpdate() -> bool = 0; | |||
| virtual void applyUpdate() = 0; | |||
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| virtual void turnOffActuators() = 0; | |||
| virtual void turnOffActuators() = 0; | |||
| virtual void resetEmergencyStopIteration() = 0; | |||
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Suggested change
| virtual void resetEmergencyStopIteration() = 0; | |
| virtual void resetEmergencyStopCounter() = 0; |
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YannLocatelli
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