StateManager Documentation
The StateManager allows the user to set up a number of process sets
and to switch between these process sets under program control. In
this way, one can switch the robot system between a number of
different configurations depending on the task that the robot is
ordered to do. Note that the switching frequency will be limited by
Linux and the start-up time of the processes so this must be
task-level switching (that happens infreqently).
Table of contents:
- Invoking StateManager
- Design of StateManager
Invoking StateManager
StateManager [-d debug_level] [-p port] [-P password_file] config_name
Design of StateManager
The StateManager maintains a number of different sets of processes,
with one of them active at any one time. It is also possible to
switch to another set of processes under program control. In addition
to these process sets, the StateManager has a number of fallback
processes. These are general services that are available and will be
used in the event that a process asks for them.
Clarify!