Replace intermediate states with conditional transitions #689
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andchiind
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| "dest": self.monitor_state, | ||
| "conditions": self._start_task, | ||
| }, | ||
| { |
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This transition is basically the "else" which is run if the conditional above returns false. In this case, if it fails to continue the mission (for instance if there are no more tasks) it will go to the idle state and run the "_full_mission_finished" cleanup function.
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The same is true for the transition from idle to idle. This is for when we fail to start a mission.
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| self.start_mission_thread.start_thread( | ||
| start_mission_or_task, name="Robot start mission thread" | ||
| ) | ||
| # TODO: consider what happens when we get another start_mission while the start_mission_thread is running. |
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Will be removed before moving the PR out of draft
| self.current_status = task_status | ||
| time.sleep(settings.FSM_SLEEP_TIME) | ||
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| def stop(self) -> None: |
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It's not used yet, but I might use it before moving the PR out of draft
| self.robot_task_status_thread = ThreadedRequest( | ||
| request_func=self.run_robot_task_status_thread | ||
| ) | ||
| self.robot_task_status_thread.start_thread(name="Robot task status thread") |
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how is this stopped when there is no mission active?
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The thread exits when it transitions out of monitor, and it is then cleaned up when receiving another mission
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I will change it so that the thread stays alive, but only sleeps while no mission or task is active. This way we avoid the cost of having to start another thread when a new task starts. Alternatively I might make it start when we detect that we enter monitor, then exit when we leave monitor.
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Closes #687
Ready for review checklist: