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Feature/pm 391 set state machine to unknown #506

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merged 9 commits into from
Apr 10, 2020

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JorisWeeda
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Closes PM-391
(Also use the feature/PM-391-sm-to-unknown-button in the march_rqt_input_device)

Description

This PR solves the problem to shutdown the exoskeleton in order to home-stand of home-sit again. It does this by manually setting the state to the 'UNKNOWN' state in the exoskeleton. It is only useful to have this callback in the idle_state because this state is used in the side and ramp up gaits. In order to move to the 'UNKNOWN' state the 'failed' outcome is used for every idle state and has been added if it was not available yet

Changes

  • At UNKNOWN instruction to the GaitInstruction.msg
  • Added a callback method in the control_flow.py
  • Added the 'failed' and transition to UNKNOWN tag
  • Used the callback in the idle_state

… machine back to state UNKNOWN. Also added a button which has a callback to publish this tag.
… unknown type in the gait instruction message. This callback is used in the idle state to return failed to enter the UNKNOWN state. In order to accomplish this every used idle state is required to have the failed tag as a possible transition.
@JorisWeeda JorisWeeda requested review from Olavhaasie and a team as code owners April 7, 2020 12:52
@JorisWeeda JorisWeeda requested a review from Roelemans April 7, 2020 12:52
@JorisWeeda JorisWeeda added the not-tested-on-march When a PR has not yet been tested on March label Apr 7, 2020
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@RutgerVanBeek RutgerVanBeek left a comment

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When press the button after startup (when still in unknown) the state machine shuts down. Furthermore when I do this during a gait or an idle state it reports that I want to go unknown, but does not to actually do that.

@JorisWeeda JorisWeeda requested a review from RutgerVanBeek April 8, 2020 10:36
RutgerVanBeek
RutgerVanBeek previously approved these changes Apr 8, 2020
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@RutgerVanBeek RutgerVanBeek left a comment

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Nice, works as expected!

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@Roelemans Roelemans left a comment

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Woops, approved a bit too quickly. The state machine crashes when forcing unknown from sofa_sitting 😇 I think Olav's suggestion to put it in a idle state by default will come in handy.

Only the gait outcomes have to be passed on the the idle state from now on.
Olavhaasie
Olavhaasie previously approved these changes Apr 9, 2020
@Roelemans Roelemans merged commit 855993a into develop Apr 10, 2020
@Roelemans Roelemans deleted the feature/PM-391-set-state-machine-to-unknown branch April 10, 2020 11:31
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4 participants