cfsd-logic-lynx-state-machine

This microservice provides the state machine for Lynx. Receives messages from different microservices and sets the appropriate autonomous state and state specific behaviour.
The state machine decides if torque and brake request should be used based on current state.

• Senderstamp Offsets
  • GPIO: 1000
  • Analog: 1200
  • PWM: 1300

Build

AMD64: docker build -f Dockerfile.amd64 -t chalmersfsd/cfsd-logic-lynx-state-machine:v0.0.0 .

Enumerated States

asState	asMission	ebsState
AS_OFF	AMI_NONE	EBS_UNAVAILABLE
AS_READY	AMI_ACCELERATION	EBS_ARMED
AS_DRIVING	AMI_SKIDPAD	EBS_ACTIVATED
AS_FINISHED	AMI_TRACKDRIVE
AS_EMERGENCY	AMI_AUTOCROSS
AS_MANUAL	AMI_BRAKETEST
	AMI_INSPECTION
	AMI_MANUAL

Input

OpenDLV message	sender stamp	msg content
opendlv::proxy::SwitchStateReading	1049	EBS okay
	1112	clampExtended
	1115	ASMS
	???	TS_on
	1801	RES Status
	1802	RES stop signal
	1804	RES buttons
opendlv::proxy::SwitchStateRquest	2102	Finish signal
opendlv::proxy::GroundSpeedReading	???	vehicle speed
opendlv::proxy::WheelSpeedReading	1901	Wheel RR
	1902	Wheel RL
	1903	Wheel FR
	1904	Wheel FL
opendlv::proxy::PressureReading	1201	EBS line
	1202	Service tank
	1203	EBS actuator
	1205	Service regulator
opendlv::cfsdProxy::TorqueRequestDual	2101	Torque request
opendlv::proxy::GroundSteeringReading	1200	steer pos actuator
	1206	steer pos rack
opendlv::proxy::PulseWidthModulationRequest	1341	brake dutycycle

Output

OpenDLV message	sender stamp	msg content
opendlv::proxy::SwitchStateReading	1904	RTD
	2101	AS state
	2105	EBS fault
	2114	EBS state
opendlv::proxy::SwitchStateRequest	1027	Heartbeat
	1044	EBS speaker
	1045	compressor
	1066	finished signal
	1067	shutdown signal
	1069	brake valve state
opendlv::proxy::PressureReading	1509	brake target (missing)
opendlv::cfsdProxy::TorqueRequestDual	1910	torque request to CAN
opendlv::proxy::PulseWidthModulationRequest	1300	ASSI blue
	1320	ASSI red
	1321	ASSI green

Transition Diagram