feat(api, robot-server): add estop state machine #13146
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…rear panel. This is already supported on the firmware, I'm not sure why it's missing from the monorepo?
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@@ Coverage Diff @@
## edge #13146 +/- ##
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- Coverage 72.56% 72.46% -0.10%
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Files 2380 2387 +7
Lines 65881 66060 +179
Branches 7274 7304 +30
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+ Hits 47806 47872 +66
- Misses 16339 16452 +113
Partials 1736 1736
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sfoster1
requested changes
Jul 21, 2023
| return True | ||
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| @property | ||
| def estop_state_machine(self) -> Optional[EstopStateMachine]: |
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I don't love the difference being exposed in this way (with it returning an optional) - I'd rather have the controller and the simulator return a guaranteed object that just stays locked in "disengaged" if the backing hardware isn't present. It'll save us a bunch of little tests in the hardware controller.
| """Callback from the detector.""" | ||
| self._handle_state_transition(new_summary=summary) | ||
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| def _transition_from_physically_engaged(self) -> None: |
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For testability can we make these take summaries as arguments and return new states?
fsinapi
deleted the
RCORE-796-Add-e-stop-state-machine-to-hardware-control
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Overview
Adds a state machine to handle the Estop status on the hardware controller, and makes it available to the robot server.
The state machine looks like this:
This PR does not block out any movements when the Estop is in the "logically-engaged" state, because the only way to clear that is through the HTTP endpoint and if the app doesn't give that option we'd be blocking all movements until the robot server restarts.
Test Plan
Threw it out a robot and walked through all of the state transitions in the diagram. Checked the state & acknowledged the
logically-engagedstate with the endpoints under/robot/control. Everything worked correctly, physical changes all seemed to get detected by the rear panel.Changelog
/robot/controlendpoints to hardware controllerReview requests
Risk assessment
Pretty low until we hook this up to block movements in a later PR!