vehicle_common.mode_manager

Attributes

MISSION_STARTED_MARKER_ENV

Classes

ModeManagerParams	Parameters every ModeManager subclass's schema must define.
ModeManager	Shared mission manager plumbing for a single bound vehicle.

Module Contents

MISSION_STARTED_MARKER_ENV = 'PENNAIR_MISSION_STARTED_MARKER_PATH'

class ModeManagerParams

Bases: Protocol

Parameters every ModeManager subclass’s schema must define.

generate_parameter_library schemas can’t be composed, so each package’s *_mission_parameters.yaml repeats these fields. Keep them in sync.

vehicle_name: str

auto_launch: bool

class ModeManager(node_name: str)

Bases: rclpy.node.Node, abc.ABC

Shared mission manager plumbing for a single bound vehicle.

params

vehicle: vehicle_common.vehicle.Vehicle | None = None

modes: dict[str, vehicle_common.mode.Mode]

transitions: dict[str, dict[str, str]]

active_mode: str | None = None

last_update_time

timer = None

auto_launch

_auto_launch_timer = None

_runtime_vehicle_name = ''

start_mission_service

abstractmethod load_params() → ModeManagerParams

Declare, validate, and return this manager’s ROS parameters.

abstractmethod spin_once() → None

Execute one iteration of the mode manager’s control loop.

get_active_mode() → vehicle_common.mode.Mode

_mission_started_marker_path() → pathlib.Path

_write_mission_started_marker() → None

_clear_mission_started_marker() → None

initialize_mode(mode_id: str, params: pydantic.BaseModel) → vehicle_common.mode.Mode

setup_modes(runtime_mission: vehicle_common.mission_loader.RuntimeMission) → None

transition(state: str) → str

switch_mode(mode_name: str) → None

run_active_mode(current_time: float) → None

_deactivate_active_mode() → None

_stop_vehicle() → None

_start_mission_callback(request, response)

start_mission() → bool

_cancel_auto_launch_timer() → None

_auto_launch_ready() → bool

_maybe_auto_launch() → None

handle_mode_state(state: str) → None