State.hpp

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#ifndef STATE_HPP
#define STATE_HPP
 
#include "../AutonomyLogging.h"
 
 
namespace statemachine
{
 
    enum class States
    {
        eIdle,
        eNavigating,
        eSearchPattern,
        eApproachingMarker,
        eApproachingObject,
        eVerifyingPosition,
        eVerifyingMarker,
        eVerifyingObject,
        eAvoidance,
        eReversing,
        eStuck,
 
        NUM_STATES
    };
 
 
    enum class Event
    {
        eStart,
        eReachedGpsCoordinate,
        eReachedMarker,
        eReachedObject,
        eMarkerSeen,
        eObjectSeen,
        eMarkerUnseen,
        eObjectUnseen,
        eVerifyingComplete,
        eVerifyingFailed,
        eAbort,
        eRestart,
        eObstacleAvoidance,
        eEndObstacleAvoidance,
        eNoWaypoint,
        eNewWaypoint,
        eReverse,
        eReverseComplete,
        eSearchFailed,
        eStuck,
        eUnstuck,
 
        NUM_EVENTS
    };
 
 
    inline std::string StateToString(States eState)
    {
        switch (eState)
        {
            case States::eIdle: return "Idle";
            case States::eNavigating: return "Navigating";
            case States::eSearchPattern: return "Search Pattern";
            case States::eApproachingMarker: return "Approaching Marker";
            case States::eApproachingObject: return "Approaching Object";
            case States::eVerifyingPosition: return "Verifying Position";
            case States::eVerifyingMarker: return "Verifying Marker";
            case States::eVerifyingObject: return "Verifying Object";
            case States::eAvoidance: return "Avoidance";
            case States::eReversing: return "Reversing";
            case States::eStuck: return "Stuck";
            default: return "Unknown";
        }
    }
 
 
    class State
    {
        private:
            States m_eState;
            std::string m_szStateName;
 
        protected:
 
            virtual void Start() { return; }
 
 
            virtual void Exit() { return; }
 
        public:
 
            State(States eState)
            {
                // Set State
                m_eState = eState;
 
                // Set State Name
                m_szStateName = StateToString(m_eState);
 
                // Start the State
                Start();
            }
 
 
            virtual ~State() = default;
 
 
            virtual States TriggerEvent(Event eEvent) = 0;
 
 
            virtual void Run() = 0;
 
 
            States GetState() const { return m_eState; }
 
 
            virtual std::string ToString() const { return m_szStateName; }
 
 
            virtual bool operator==(const State& other) const { return ToString() == other.ToString(); }
 
 
            virtual bool operator!=(const State& other) const { return !operator==(other); }
    };
}    // namespace statemachine
 
#endif    // STATE_HPP