xtkuang
f4be2ffaaa
Add the DeviceManager-owned safety coordinator, shared sensor/control policies, command ledger, service guards, generalized StopAll, and RecoverSafetyState. Preserve device-side hardware checks and AUBO hardware E-stop release reconciliation while keeping software E-stop independently latched.
103 lines
3.8 KiB
C++
103 lines
3.8 KiB
C++
#ifndef CMVR_ES_ACTION_QUEUE_EXECUTOR_H
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#define CMVR_ES_ACTION_QUEUE_EXECUTOR_H
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#include <chrono>
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#include <cstddef>
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#include <cstdint>
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#include <functional>
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#include <memory>
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#include <string>
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#include "cmvr/api/system_command.pb.h"
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#include "manager/safety/include/safety_types.h"
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namespace cmvr::device {
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class DeviceManager;
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}
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namespace cmvr::service {
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// Owns the process-local FIFO used by SystemService ActionQueue requests.
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// The executor intentionally has no grpc::ServerContext dependency: once a
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// request is accepted, loss of the platform connection must not cancel device
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// motion on the edge.
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class ActionQueueExecutor final {
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public:
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static constexpr std::size_t kDefaultMaxAcceptedActionIds =
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256U * 1024U;
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enum class WaitResult {
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Terminal,
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CanceledBeforeAdmission,
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CanceledAfterAdmission,
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};
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// Identifies one participant in a StopAll round. Multiple concurrent
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// StopAll callers join the same round; ActionQueue admission resumes only
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// after every ticket in that round has been completed successfully.
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struct StopAllTicket {
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std::uint64_t generation{0};
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std::uint64_t ticket_id{0};
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bool active_action_stop_confirmed{false};
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bool valid() const noexcept
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{
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return generation != 0U && ticket_id != 0U;
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}
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};
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explicit ActionQueueExecutor(
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device::DeviceManager& device_manager,
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std::size_t max_accepted_action_ids =
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kDefaultMaxAcceptedActionIds);
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~ActionQueueExecutor();
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ActionQueueExecutor(const ActionQueueExecutor&) = delete;
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ActionQueueExecutor& operator=(const ActionQueueExecutor&) = delete;
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// Validates, idempotently enqueues, and waits for the terminal result.
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// Protocol and execution outcomes are represented in Feedback.
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WaitResult submitAndWait(
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const api::ActionQueueCommand_Request& request,
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api::ActionQueueCommand_Feedback& feedback,
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const std::function<bool()>& waiter_canceled = {},
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safety::CommandActor actor = {});
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// Starts (or joins) a temporary StopAll round. New action IDs are rejected
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// and queued/active actions are canceled. By default the executor also
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// requests a typed stop for the active action. SystemService delegates that
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// stop to its whole-machine sweep so one slow Action backend cannot delay
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// stop requests for every other device.
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// Existing action IDs remain queryable for idempotent reconciliation. An
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// invalid ticket means permanent shutdown has already started.
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StopAllTicket beginStopAll(bool delegate_active_stop = false);
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// Completes a StopAll participant after the caller has stopped and
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// confirmed all other devices. The queue resumes only when every ticket in
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// the current round reports success and the worker is idle. True means this
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// ticket was completed successfully; another concurrent ticket may still
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// keep the queue paused. False is fail-closed: the ticket was stale,
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// shutdown won the race, a stop was not confirmed, or the executor was not
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// idle when the last ticket completed.
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bool finishStopAll(
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const StopAllTicket& ticket,
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bool all_devices_stop_confirmed);
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// Permanently rejects new actions, cancels queued/active work, requests a
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// typed stop, and tells the worker to exit after canceled work is drained.
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// This transition is irreversible for this executor instance. Returns true
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// when the active Action devices reported a confirmed stop.
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bool disableForShutdown();
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bool waitForIdle(std::chrono::milliseconds timeout);
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const std::string& instanceId() const noexcept;
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private:
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struct Impl;
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std::unique_ptr<Impl> impl_;
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};
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} // namespace cmvr::service
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#endif // CMVR_ES_ACTION_QUEUE_EXECUTOR_H
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