Lifecycle
Introducing Lifecycle
A lifecycle defines the operational boundaries of a mode, from its activation to its completion or transition to another mode. It is responsible for initializing, managing, and safely terminating a mode’s operation, ensuring predictable transitions, consistent state handling, and controlled execution of mode-specific logic. A mode represents a functional state of the robot, such as Guard, SLAM, or Navigation, and each mode runs within a lifecycle that determines how and when it starts, executes, and ends.
Conceptual Model
Lifecycle – Defines the start, execution, and end of a mode.
Stage – Represents a logical phase within the lifecycle (e.g., startup, entry, active, exit).
Hook – A programmable event point that executes specific actions at key stages.
Mode – The operational context governed by the lifecycle.
In short: Lifecycle controls the flow → Stages define phases → Hooks perform actions → Mode defines behavior.
Stages and Hooks
Each lifecycle is composed of several stages.
Hooks are executed at specific points in these stages to perform initialization, cleanup, or handling tasks.
Stages and associated hooks:
Startup Stage
Triggered by ON_STARTUP
Executes system-level initialization before any mode begins.
Entry Stage
Triggered by ON_ENTRY
Runs when entering a mode; prepares mode-specific resources and context.
Active Stage
Represents the main operational phase of the mode.
No fixed hook; mode logic runs continuously during this stage.
Exit Stage
Triggered by ON_EXIT
Executes cleanup, saves state, and prepares for the next transition.
Timeout Stage
Triggered by ON_TIMEOUT
Handles cases where a mode exceeds its defined duration or fails to complete expected actions.
Shutdown Stage
Triggered by ON_SHUTDOWN
Performs final cleanup and safe termination of the lifecycle management system.
Last updated
Was this helpful?