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feat: added system state replacing vxstate summary AM-777/station_topic #154

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Merged
merged 2 commits into from
Aug 24, 2021
Merged

feat: added system state replacing vxstate summary AM-777/station_topic #154

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b2845ca
feat: added system state replacing vxstate summary AM-777/station_topic
Aug 13, 2021
a76f768
Merge branch 'master' into AM-777/station_topic
Aug 23, 2021
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5 changes: 5 additions & 0 deletions include/super_lib/am_super_topics.h
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,11 @@ class am_super_topics
static constexpr char SUPER_STATE[] = "/vstate/summary";

static constexpr char LIFECYCLE_STATE[] = "/node_state";

static constexpr char SUPER_STATUS[] = "/super/status";

static constexpr char NODE_LIFECYCLE[] = "/node_lifecycle";

};

}
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33 changes: 24 additions & 9 deletions src/am_super/am_super.cpp
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Expand Up @@ -20,6 +20,7 @@
#include <brain_box_msgs/StampedAltimeter.h>
#include <brain_box_msgs/Super2Status.h>
#include <brain_box_msgs/VxState.h>
#include <brain_box_msgs/SystemState.h>
#include <brain_box_msgs/ControllerState.h>

#include <am_super/controller_state.h>
Expand Down Expand Up @@ -64,6 +65,7 @@ class AMSuper : AMLifeCycle
*/
ros::Publisher lifecycle_pub_;
ros::Publisher vstate_summary_pub_;
ros::Publisher system_state_pub_;
ros::Publisher super_status_pub_;
ros::Publisher led_pub_;
ros::Subscriber node_state_sub_;
Expand Down Expand Up @@ -182,19 +184,20 @@ class AMSuper : AMLifeCycle
/**
* system status pub
*/
vstate_summary_pub_ = nh_.advertise<brain_box_msgs::VxState>("/vstate/summary", 1000);
/**
vstate_summary_pub_ = nh_.advertise<brain_box_msgs::VxState>(am_super_topics::SUPER_STATE, 1000);
system_state_pub_ = nh_.advertise<brain_box_msgs::SystemState>(am_topics::SYSTEM_STATE, 1000);
/**Super
* node lifecycle state pub. used to tell nodes to change their lifecycle state.
*/
lifecycle_pub_ = nh_.advertise<brain_box_msgs::LifeCycleCommand>("/node_lifecycle", 100);
lifecycle_pub_ = nh_.advertise<brain_box_msgs::LifeCycleCommand>(am_super_topics::NODE_LIFECYCLE, 100);
/**
* led control pub
*/
led_pub_ = nh_.advertise<brain_box_msgs::BlinkMCommand>(am::am_topics::LED_BLINK, 1000);
/**
* super status contains online naode list for gcs_comms
*/
super_status_pub_ = nh_.advertise<brain_box_msgs::Super2Status>("/super/status", 1000);
super_status_pub_ = nh_.advertise<brain_box_msgs::Super2Status>(am_super_topics::SUPER_STATUS, 1000);

supervisor_.system_state = SuperState::BOOTING;
supervisor_.flt_ctrl_state = SuperNodeMediator::SuperFltCtrlState::INIT;
Expand All @@ -214,7 +217,7 @@ class AMSuper : AMLifeCycle
/**
* node status via LifeCycle
*/
node_state_sub_ = nh_.subscribe("/node_state", 100, &AMSuper::nodeStateCB, this);
node_state_sub_ = nh_.subscribe(am_super_topics::LIFECYCLE_STATE, 100, &AMSuper::nodeStateCB, this);

/**
* commands from operator
Expand Down Expand Up @@ -260,7 +263,7 @@ class AMSuper : AMLifeCycle
rmsg->value, rmsg->process_id, event.getReceiptTime());

// TODO: topic name should come from vb_util_lib::topics.h
LOG_MSG("/node_state", rmsg, SU_LOG_LEVEL);
LOG_MSG(am_super_topics::LIFECYCLE_STATE, rmsg, SU_LOG_LEVEL);
}

void controllerStateCB(const ros::MessageEvent<brain_box_msgs::ControllerState const>& event)
Expand Down Expand Up @@ -400,9 +403,21 @@ class AMSuper : AMLifeCycle
#if CUDA_FLAG
gpu_info_->display();
#endif
brain_box_msgs::VxState state_msg;
state_msg.state = (uint8_t)supervisor_.system_state;
vstate_summary_pub_.publish(state_msg);

//publish deprecated topic
{
brain_box_msgs::VxState state_msg;
state_msg.state = (uint8_t)supervisor_.system_state;
vstate_summary_pub_.publish(state_msg);
}

//publish the system state
{
brain_box_msgs::SystemState system_state_msg;
system_state_msg.state = (uint8_t)supervisor_.system_state;
system_state_msg.state_string = state_mediator_.stateToString(supervisor_.system_state);
system_state_pub_.publish(system_state_msg);
}

// cycle thru all the nodes in the list to look for a timeout
ros::Time now = ros::Time().now();
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