https://wiki.eeros.org/ 2026-05-06T12:56:49+00:00 https://wiki.eeros.org/ https://wiki.eeros.org/_media/logo.png text/html 2023-02-25T23:25:24+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/eeros_architecture/sequencer/define_sequence?rev=1677367524&do=diff Define your own Sequence or Step A sequence or step must be carefully designed in order to run as expected. Write your own Class Extend the class Sequence or Step, respectively. A step comprises a single operation and never runs concurrently to its caller. A sequence typically includes two or more steps and can run in parallel to its caller. text/html 2015-03-30T13:38:28+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/eeros_architecture/sequencer/exception_handling?rev=1427722708&do=diff Error Handler Usage The error handler is also a sequence. However, it will be used in case of an exception, so the user knows that it is a recovery pass. To create a new error handler, you have to derive from the class ErrorHandler built in the framework. text/html 2017-09-24T09:39:18+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/eeros_architecture/sequencer/exceptions?rev=1506245958&do=diff Exception Handling The following examples demonstrate how sequences and their monitors are able to handle various scenarios. Sequence Supervised by Monitor The situation below shows a monitor firing during the runtime of a sequence. Monitor checks condition and causes a switch to an exception sequence after which the original sequence is restarted text/html 2021-10-20T14:07:48+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/eeros_architecture/sequencer/monitors?rev=1634738868&do=diff Conditions and Monitors A monitor allows to supervise certain conditions of a robot during a sequence. Examples could include the following situations: * A sequence steers a robot along a given path. A monitors checks for obstacles. As soon as an obstacle is close enough, the monitor causes a predefined exception sequence to be executed. text/html 2024-12-01T10:50:04+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/eeros_architecture/sequencer/sequence?rev=1733050204&do=diff Sequence A sequence is a well defined course of steps. These steps run in a strictly sequential order until the sequence has finished or some condition causes the sequence to stop. In such a case the sequence could be repeated or another sequence could be started. text/html 2025-07-25T12:35:26+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/eeros_architecture/sequencer/sequencer?rev=1753446926&do=diff Sequencer The sequencer is responsible to run the main sequence. There is a single instance of the sequencer and therefore only one main sequence. Further, the sequencer contains a list with all sequences. Whenever you define a sequence it will automatically be added to this list. The list helps to retrieve a reference to a given sequence. This can be helpful is you wish to pass information into this sequence. text/html 2019-03-14T08:25:33+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/eeros_architecture/sequencer/start?rev=1552551933&do=diff Sequencer A sequencer ensures that a robots can execute a series of user-defined tasks. Such a sequencer runs in non-realtime. The robot's motions are defined as a sequence of steps. The sequencer, which is an integral part of the EEROS framework, has to be assigned such a sequence. Each sequence may include many single steps which must run to completion (unless interrupted by the safety system). Additionally, several subsequences may be defined and added to the same sequencer. text/html 2026-02-19T14:09:06+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/eeros_architecture/sequencer/step_or_sequence?rev=1771510146&do=diff How to Organize Sequences and Steps Sometimes its not obvious what should go into a separate step and what to pack directly into a sequence. Let's study the following example. A robot finished a homing sequence. It should move to a ready position before further action can happen. For this purpose a sequence text/html 2015-10-31T08:05:40+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/eeros_architecture/sequencer/subsequence?rev=1446278740&do=diff Subsequence A subsequence is a sequence which is called by another sequence. Such a subsequence can be called in a blocking or non-blocking way. Blocking means that the step waits (or blocks) until the subsequence has finished. Non-blocking means that subsequence and main sequence run concurrently.