statemachine::IdleState Class Reference

The IdleState class implements the Idle state for the Autonomy State Machine. More...

#include <IdleState.h>

Inheritance diagram for statemachine::IdleState:

Collaboration diagram for statemachine::IdleState:

Public Member Functions
	IdleState ()
	Construct a new State object.
void	Run () override
	Run the state machine. Returns the next state.
States	TriggerEvent (Event eEvent) override
	Trigger an event in the state machine. Returns the next state.
Public Member Functions inherited from statemachine::State
	State (States eState)
	Construct a new State object.
virtual	~State ()=default
	Destroy the State object.
States	GetState () const
	Accessor for the State private member.
virtual std::string	ToString () const
	Accessor for the State private member. Returns the state as a string.
virtual bool	operator== (const State &other) const
	Checks to see if the current state is equal to the passed state.
virtual bool	operator!= (const State &other) const
	Checks to see if the current state is not equal to the passed state.

Protected Member Functions
void	Start () override
	This method is called when the state is first started. It is used to initialize the state.
void	Exit () override
	This method is called when the state is exited. It is used to clean up the state.

Private Attributes
time_t	m_tIdleTime
bool	m_bRealigned
geoops::RoverPose	m_stStartRoverPose
std::vector< std::tuple< double, double > >	m_vRoverPosition
int	m_nMaxDataPoints
bool	m_bInitialized

Detailed Description

The IdleState class implements the Idle state for the Autonomy State Machine.

Author

Eli Byrd (edbgk.nosp@m.k@ms.nosp@m.t.edu)

Date

2024-01-17

Constructor & Destructor Documentation

IdleState()

statemachine::IdleState::IdleState

(

)

Construct a new State object.

Author

Eli Byrd (edbgk.nosp@m.k@ms.nosp@m.t.edu)

Date

2024-01-17

                         : State(States::eIdle)
    {
        LOG_INFO(logging::g_qConsoleLogger, "Entering State: {}", ToString());
 
        m_bInitialized = false;
 
        if (!m_bInitialized)
        {
            Start();
            m_bInitialized = true;
        }
    }

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Member Function Documentation

Start()

void statemachine::IdleState::Start ( )

overrideprotectedvirtual

This method is called when the state is first started. It is used to initialize the state.

Author

Eli Byrd (edbgk.nosp@m.k@ms.nosp@m.t.edu)

Date

2024-01-17

Reimplemented from statemachine::State.

    {
        // Schedule the next run of the state's logic
        LOG_INFO(logging::g_qSharedLogger, "IdleState: Scheduling next run of state logic.");
 
        m_tIdleTime      = time(nullptr);
        m_bRealigned     = false;
        m_nMaxDataPoints = 100;
        m_vRoverPosition.reserve(m_nMaxDataPoints);
 
        // Get the start rover pose.
        m_stStartRoverPose = globals::g_pWaypointHandler->SmartRetrieveRoverPose();
    }

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Exit()

void statemachine::IdleState::Exit ( )

overrideprotectedvirtual

This method is called when the state is exited. It is used to clean up the state.

Author

Eli Byrd (edbgk.nosp@m.k@ms.nosp@m.t.edu)

Date

2024-01-17

Reimplemented from statemachine::State.

    {
        // Clean up the state before exiting
        LOG_INFO(logging::g_qSharedLogger, "IdleState: Exiting state.");
 
        // Clear rover position waypoints.
        m_vRoverPosition.clear();
    }

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Run()

void statemachine::IdleState::Run ( )

overridevirtual

Run the state machine. Returns the next state.

Author

Eli Byrd (edbgk.nosp@m.k@ms.nosp@m.t.edu)

Date

2024-01-17

Implements statemachine::State.

    {
        // Submit logger message.
        LOG_DEBUG(logging::g_qSharedLogger, "IdleState: Running state-specific behavior.");
 
        // Create instance variables.
        geoops::RoverPose stCurrentRoverPose;
 
        // Get the current rover gps position.
        stCurrentRoverPose = globals::g_pWaypointHandler->SmartRetrieveRoverPose();
        // Store the Rover's position.
        m_vRoverPosition.push_back(std::make_tuple(stCurrentRoverPose.GetUTMCoordinate().dEasting, stCurrentRoverPose.GetUTMCoordinate().dNorthing));
 
        // Calculate distance from current position to position when idle state was entered.
        geoops::GeoMeasurement stMeasurement = geoops::CalculateGeoMeasurement(m_stStartRoverPose.GetGPSCoordinate(), stCurrentRoverPose.GetGPSCoordinate());
        // Check if the rover is still moving.
        if (stMeasurement.dDistanceMeters > 0.1)
        {
            // Send stop drive command.
            globals::g_pDriveBoard->SendStop();
            // Update Idle start pose.
            m_stStartRoverPose = stCurrentRoverPose;
            // Submit logger message.
            LOG_INFO(logging::g_qSharedLogger, "IdleState: Stopped drive.");
        }
 
        // If the last state was searchpattern and the waypoint handler has been cleared, reset.
        if (globals::g_pStateMachineHandler->GetPreviousState() != States::eIdle && globals::g_pWaypointHandler->GetWaypointCount() <= 0)
        {
            // Submit logger message.
            LOG_NOTICE(logging::g_qSharedLogger, "IdleState: WaypointHandler queue is empty while in IdleState, deleting old saved states...");
            // Reset all old states. Since waypoint handler has been cleared, there's no need to save old searchpattern state.
            globals::g_pStateMachineHandler->ClearSavedStates();
        }
    }

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TriggerEvent()

States statemachine::IdleState::TriggerEvent ( Event  eEvent )

overridevirtual

Trigger an event in the state machine. Returns the next state.

Parameters

eEvent

- The event to trigger.

Returns

std::shared_ptr<State> - The next state.

Author

Eli Byrd (edbgk.nosp@m.k@ms.nosp@m.t.edu)

Date

2024-01-17

Implements statemachine::State.

    {
        // Create instance variables.
        States eNextState       = States::eIdle;
        bool bCompleteStateExit = true;
 
        switch (eEvent)
        {
            case Event::eStart:
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "IdleState: Handling Start event.");
                // Send multimedia command to update state display.
                globals::g_pMultimediaBoard->SendLightingState(MultimediaBoard::MultimediaBoardLightingState::eAutonomy);
 
                bool tagInSight    = false;    // TODO: Replace with actual tag detection
                bool reverseAlways = false;    // TODO: Replace with actual reverse always flag
 
                // If there is an ArUco marker in the camera's field of view, transition to backup before navigating.
                if (tagInSight)
                {
                    LOG_INFO(logging::g_qSharedLogger, "IdleState: Detected ArUco marker. Transitioning to Reverse State.");
                    eNextState = States::eReversing;
                }
                // If the reverse always flag is set, transition to backup before navigating.
                else if (reverseAlways)
                {
                    LOG_INFO(logging::g_qSharedLogger, "IdleState: Reverse always flag set. Transitioning to Reverse State.");
                    eNextState = States::eReversing;
                }
                // Otherwise, transition to navigating.
                else
                {
                    // Check if waypoint handler has any waypoints.
                    if (globals::g_pWaypointHandler->GetWaypointCount() > 0)
                    {
                        // Submit logger message.
                        LOG_INFO(logging::g_qSharedLogger, "IdleState: No ArUco marker detected. Transitioning to Navigating State.");
                        // Change states.
                        eNextState = States::eNavigating;
                    }
                    else
                    {
                        // Submit logger message.
                        LOG_NOTICE(logging::g_qSharedLogger,
                                   "IdleState: Not transitioning to NavigatingState because no waypoints have been added to the waypoint handler!");
                    }
                }
 
                break;
            }
            case Event::eAbort:
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "IdleState: Handling Abort event.");
                // Send multimedia command to update state display.
                globals::g_pMultimediaBoard->SendLightingState(MultimediaBoard::MultimediaBoardLightingState::eAutonomy);
                // Ensure drive is stopped.
                globals::g_pDriveBoard->SendStop();
                break;
            }
            default:
            {
                // Submit logger message.
                LOG_WARNING(logging::g_qSharedLogger, "IdleState: Handling unknown event.");
                break;
            }
        }
 
        if (eNextState != States::eIdle)
        {
            LOG_INFO(logging::g_qSharedLogger, "IdleState: Transitioning to {} State.", StateToString(eNextState));
 
            // Exit the current state
            if (bCompleteStateExit)
            {
                Exit();
            }
        }
 
        return eNextState;
    }

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The documentation for this class was generated from the following files:

• src/states/IdleState.h
• src/states/IdleState.cpp