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Publish inferred transitions #46

Merged
merged 4 commits into from
Sep 30, 2020
Merged

Publish inferred transitions #46

merged 4 commits into from
Sep 30, 2020

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norro
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@norro norro commented Sep 23, 2020 •
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Publishes inferred transitions of node modes and system states+modes.

The main change of this PR is that

  1. mode inference can now explicitly infer and record the state/mode changes of systems and the mode changes of nodes, see ModeInference::infer_transitions
  2. mode manager publishes these transitions in a regular interval, see ModeManager::publish_transitions on the same topics that lifecycle nodes use

The effect is that

  1. transitions of systems are now published and visible in the same way transitions of nodes are published anyway (lifecycle nodes do that on their own), namely /{system name}/transition_event and
  2. mode transitions are now published and visible in the same way state transitions are published, namely /{node or system name}/mode_event

@norro
ModeEvent now includes start mode (of transition)
b5fb2e4 
This is now closer to the according TransitionEvent of lifecycle_msgs,
which includes the start_state and goal_state of a transition.

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
@norro
Adds inference of transitions to mode inference
8d1ffd6 
* Adds caching of latest reported states/modes of all systems
* Adds infer_transitions method that compares currently inferred
states/modes to cached ones and returns transitions, if detected

#42

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
@norro
Tests for transition inference
9800ac1 
Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
@norro norro self-assigned this Sep 23, 2020
@norro norro linked an issue Sep 23, 2020 that may be closed by this pull request
Publish inferred state/mode transitions #42
Closed
@norro
Mode manager publishs inferred transitions
2ba0ee8 
Mode manager is now publishing transitions that are inferred by the mode
inference, i.e. state and mode transitions of systems, mode transitions
of nodes.
State transitions of nodes don't have to be published as lifecycle nodes
do this on their own.

#42

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
@norro norro changed the title [WiP] publish inferred transitions Publish inferred transitions Sep 29, 2020
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norro commented Sep 29, 2020

@chcorbato do you want to have a look at this, before I merge it?

@norro norro changed the base branch from master to dev September 29, 2020 17:33
chcorbato
chcorbato reviewed Sep 30, 2020
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To clarify, the main change in this pull request is that inferred transitions are now published instead of offered via services @norro ?

system_modes/src/system_modes/mode_manager.cpp Show resolved Hide resolved
chcorbato
chcorbato approved these changes Sep 30, 2020
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LGTM!

@norro norro merged commit c883230 into dev Sep 30, 2020
@norro norro deleted the feature/42-publish-inferred-transitions branch September 30, 2020 08:47
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Publish inferred state/mode transitions
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