[✨FEAT✨]: Autonomous system status node

[csprono]

Is there an existing enhancement request for this?

• I have searched the existing feature requests

Description

A node that performs checks and provides a status indication based off the checks.

Use figure 17 from T14 2023 FSG rulebook

Additional Information

No response

[csprono]

State machine framework

• https://github.com/uleroboticsgroup/yasmin

State machine states (status code)

• AS off (4)
  • no ebs
  • mission selected AND ASMS on AND ASB ok AND TS active
  • no r2d
  • no brakes
• AS ready (2)
  • no ebs
  • mission selected AND ASMS on AND ASB ok AND TS active
  • r2d
  • brakes
• AS driving (3)
  • no ebs
  • mission selected AND ASMS on AND ASB ok AND TS active
  • r2d
• AS emergency (1)
  • EBS
  • Mission not finished AND vehicle stopped
• AS finished (0)
  • EBS
  • mission finished AND vehicle stopped

state machine graph

TBC

Boolean Checks

• EBS
  • active if power supply is cut after passing initial checkup sequences
• Mission selected
• ASMS (autonomous system master switch)
• ASB (autonomous system brake)
  • when checking need to ensure able to build up brake pressure
• TS (tractive system)
  • engine running & gearbox neutral
• R2D (ready to drive)
  • engine running & in gear
• Brakes engaged
• Mission finished
• Vehicle stopped

Messages Used

• Input topics = TBC

• Ackermann

  • to determine if car is stopped
    • zero speed & zero acceleration

• Read from event controller

  • Mission selected
  • Mission finished

• Read from CAN

  • ASMS
  • ASB

Output

• status code to ASSI (autonomous system status indicator)
• topic = as_status

[csprono]

send CAN msg to motec confirming transition. MOTEC will send if hardware is in drivable state