TAILIEUCHUNG - Software Engineering for Experimental Robotics - Davide Brugali et al Part 6

Tham khảo tài liệu 'software engineering for experimental robotics - davide brugali et al part 6', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | CoolBOT A Component Model and Software Infrastructure for Robotics 149 state . Event np happens when an external supervisor forces a priority change event nc when a change of configuration is commanded from the external supervisor and event nex occurs when the supervisor injects artificially the occurrence of an exception. Fig. 5. The Default Automaton. The default automaton is said to be controllable because it can be brought in finite time by an external supervisor by using the control port to any of the controllable states of the automaton which are ready running suspended and dead. The rest of states are reachable only internally and from them a transition to one of the controllable states can be forced externally. The running state the dashed state in Fig. 5 constitutes or represents the part of the automaton that implements the specific functionality of the component and it is called the user automaton. The user automaton varies among components depending on their functionality and it is defined during component design and development. The initial state of a user automaton constitutes its entry state. Having a look to Fig. 5 we can see how CoolBOT components evolve along their execution time since they are launched until they finish their execution. Basically the default automaton organize the life of a component in several phases which correspond to different states starting This state is devised to allocate resources for a correct task execution. 150 . Dominguez-Brito et al. ready In this state the component is ready to execute and waits for an external command to start nsr . running In this pseudo-state the component is carrying out its specific task running its user automaton. suspended In this state the component is suspended and remains idle until ordered to transit to other state. end In this state the component has just finished a task execution. Getting to this state the component publishes the result of its execution if any through its monitoring

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