AppController Class Reference

Orchestrates runtime modes for ARGUS. More...

#include <AppController.hpp>

Classes
struct	LiveTestOptions
	Options used by live test and camera backend check modes. More...
struct	MotionSmokeTestOptions
	Options for the motion smoke-test mode. More...

Public Types
enum class	SmokeJoint {   All , Base , Lower , Upper ,   Grip }
	Joint selector used by motion smoke-test mode. More...

Public Member Functions
	AppController () noexcept
	Construct the application controller.
	~AppController () noexcept
	Destroy the application controller.
int	runGuardianScenarioDemo ()
	Run the scripted guardian scenario demonstration.
int	runButtonTest ()
	Run physical-button diagnostics.
int	runServoCalibration ()
	Run interactive raw-pulse servo calibration mode.
int	runInteractiveServoConsole ()
	Run interactive servo console mode.
int	runMotionHomePose ()
	Move the arm to the configured home pose and exit.
int	runMotionSmokeTest (const MotionSmokeTestOptions &options)
	Run motion-only smoke tests using the selected joint scope.
int	runCameraBackendCheck (const LiveTestOptions &options)
	Run camera backend validation/check mode.
int	runLiveMarkerTest (const LiveTestOptions &options)
	Run live safety supervision mode.

Detailed Description

Definition at line 18 of file AppController.hpp.

Member Enumeration Documentation

SmokeJoint

enum class AppController::SmokeJoint

strong

Enumerator
All	Run the full all-joint smoke sequence.
Base	Run smoke test for base joint only.
Lower	Run smoke test for lower joint only.
Upper	Run smoke test for upper joint only.
Grip	Run smoke test for gripper joint only.

Definition at line 23 of file AppController.hpp.

Constructor & Destructor Documentation

AppController()

AppController::AppController ( )

defaultnoexcept

~AppController()

AppController::~AppController ( )

defaultnoexcept

Member Function Documentation

runButtonTest()

int AppController::runButtonTest

(

)

Returns

Exit code (0 success, non-zero failure).

Definition at line 2478 of file AppController.cpp.

References PhysicalButtonModule::available(), PhysicalButtonModule::eventToString(), PhysicalButtonModule::lastErrorString(), PhysicalButtonModule::statusString(), and PhysicalButtonModule::waitForEvent().

Referenced by main().

runCameraBackendCheck()

int AppController::runCameraBackendCheck

(

const LiveTestOptions &

options

)

Parameters

options

Camera/backend options.

Returns

Exit code (0 success, non-zero failure).

Definition at line 3087 of file AppController.cpp.

References AppController::LiveTestOptions::backend_preference, CameraCapture::backendImplementation(), AppController::LiveTestOptions::camera_index, FrameEvent::capture_timestamp, and FrameEvent::image_data.

Referenced by main().

runGuardianScenarioDemo()

int AppController::runGuardianScenarioDemo

(

)

Returns

Exit code (0 success, non-zero failure).

Definition at line 2420 of file AppController.cpp.

References FRAME_BAD, FRAME_GOOD, GuardianStateMachine::operatorAcknowledge(), GuardianStateMachine::printStatus(), GuardianStateMachine::processFrame(), GuardianStateMachine::setOnClearFreezeCallback(), GuardianStateMachine::setOnFreezeCallback(), and GuardianStateMachine::setOnStateChangeCallback().

Referenced by main().

runInteractiveServoConsole()

int AppController::runInteractiveServoConsole

(

)

Returns

Exit code (0 success, non-zero failure).

Definition at line 2750 of file AppController.cpp.

References MotionController::enable(), MotionController::initialise(), MotionController::lastErrorString(), MotionController::setTargets(), and MotionController::shutdown().

Referenced by main().

runLiveMarkerTest()

int AppController::runLiveMarkerTest

(

const LiveTestOptions &

options

)

Parameters

options

Live mode options.

Returns

Exit code (0 success, non-zero failure).

Definition at line 3173 of file AppController.cpp.

References ACK_REQUEST, ALLOW_MOTION, ARM_REQUEST, AppController::LiveTestOptions::auto_ack, PhysicalButtonModule::available(), AppController::LiveTestOptions::backend_preference, CameraCapture::backendImplementation(), MotionChannelMap::base, AppController::LiveTestOptions::camera_index, FrameEvent::capture_timestamp, VisionConfig::depthHueLower1, VisionConfig::depthHueLower2, VisionConfig::depthHueUpper1, VisionConfig::depthHueUpper2, VisionConfig::depthPixelThreshold, VisionConfig::depthSatMax, VisionConfig::depthSatMin, VisionConfig::depthValMax, VisionConfig::depthValMin, DISARM_REQUEST, PhysicalButtonModule::eventToString(), AppController::LiveTestOptions::expected_marker_id, VisionConfig::expectedMarkerId, FAULT, FRAME_BAD, FRAME_GOOD, FREEZE_NOW, FROZEN_UNSAFE, FrameEvent::image_data, MotionController::initialise(), MotionController::lastErrorString(), PhysicalButtonModule::lastErrorString(), VisionProcessor::process(), SafetyResult::processing_time, RESET_PENDING, SAFE, SAFE_MONITORING, MotionController::setTargets(), SafetyResult::state, PhysicalButtonModule::statusString(), SafetyResult::timestamp, UNKNOWN_FAULT, and VisionProcessor::updateConfig().

Referenced by main().

runMotionHomePose()

int AppController::runMotionHomePose

(

)

Returns

Exit code (0 success, non-zero failure).

Definition at line 2901 of file AppController.cpp.

References MotionController::enable(), MotionController::initialise(), MotionController::lastErrorString(), MotionController::setTargets(), and MotionController::shutdown().

Referenced by main().

runMotionSmokeTest()

int AppController::runMotionSmokeTest

(

const MotionSmokeTestOptions &

options

)

Parameters

options

Smoke-test options.

Returns

Exit code (0 success, non-zero failure).

Definition at line 2949 of file AppController.cpp.

References MotionChannelMap::base, MotionController::enable(), MotionController::initialise(), AppController::MotionSmokeTestOptions::joint, MotionController::lastErrorString(), MotionController::setTargets(), and MotionController::shutdown().

Referenced by main().

runServoCalibration()

int AppController::runServoCalibration

(

)

Returns

Exit code (0 success, non-zero failure).

Definition at line 2504 of file AppController.cpp.

References MeArmJointTargets::base_ticks, MotionController::enable(), MeArmJointTargets::gripper_ticks, MotionController::initialise(), MotionController::lastErrorString(), MeArmJointTargets::lower_ticks, MotionController::setTargets(), MotionController::shutdown(), and MeArmJointTargets::upper_ticks.

Referenced by main().

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The documentation for this class was generated from the following files:

• AppController.hpp
• AppController.cpp