statemachine::StuckState Class Reference

The StuckState class implements the Stuck state for the Autonomy State Machine. More...

#include <StuckState.h>

Inheritance diagram for statemachine::StuckState:

Collaboration diagram for statemachine::StuckState:

Public Member Functions
	StuckState ()
	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 Types
enum class	AttemptType { eReverseCurrentHeading , eReverseLeft , eReverseRight , eGiveUp }

Private Member Functions
bool	SamePosition (const geoops::GPSCoordinate &stOriginalPosition, const geoops::GPSCoordinate &stCurrPosition)
	Checks if the rover is approximately in the same position.

Private Attributes
bool	m_bInitialized
States	m_eTriggeringState
AttemptType	m_eAttemptType
geoops::GPSCoordinate	m_stOriginalPosition
double	m_dOriginalHeading
bool	m_bIsCurrentlyAligning
std::chrono::system_clock::time_point	m_tmStuckStartTime
std::chrono::system_clock::time_point	m_tmAlignStartTime

Detailed Description

The StuckState class implements the Stuck state for the Autonomy State Machine.

Author

Eli Byrd (edbgk.nosp@m.k@ms.nosp@m.t.edu), Jason Pittman (jspen.nosp@m.cerp.nosp@m.ittma.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2024-01-17

Member Enumeration Documentation

AttemptType

enum class statemachine::StuckState::AttemptType

strongprivate

            {
                eReverseCurrentHeading,
                eReverseLeft,
                eReverseRight,
                eGiveUp
            };

Constructor & Destructor Documentation

StuckState()

statemachine::StuckState::StuckState

(

)

Construct a new State object.

Author

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

Date

2024-01-17

                           : State(States::eStuck)
    {
        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

SamePosition()

bool statemachine::StuckState::SamePosition ( const geoops::GPSCoordinate &  stOriginalPosition, const geoops::GPSCoordinate &  stCurrPosition  )

private

Checks if the rover is approximately in the same position.

Note

The threshold that defines how far away we need to be from the original point to be considered a different position is constants::STUCK_SAME_POINT_PROXIMITY.

Parameters

stLastPosition	- Original position the rover was located.
stCurrPosition	- Current position the rover is located.

Returns

true - The rover is in the same position.

false - The rover is in a different position.

Author

Jason Pittman (jspen.nosp@m.cerp.nosp@m.ittma.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2024-02-14

    {
        double dDistance = geoops::CalculateGeoMeasurement(stOriginalPosition, stCurrPosition).dDistanceMeters;
        return dDistance <= constants::STUCK_SAME_POINT_PROXIMITY;
    }

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Start()

void statemachine::StuckState::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, "StuckState: Scheduling next run of state logic.");
 
        // Initialize member variables.
        m_dOriginalHeading     = 0;
        m_bIsCurrentlyAligning = false;
        m_eAttemptType         = AttemptType::eReverseCurrentHeading;
 
        // Store the state that got stuck and triggered a stuck event.
        m_eTriggeringState = globals::g_pStateMachineHandler->GetPreviousState();
 
        // Store the postion and heading where the rover get stuck.
        geoops::RoverPose stStartRoverPose = globals::g_pWaypointHandler->SmartRetrieveRoverPose();
        m_stOriginalPosition               = stStartRoverPose.GetGPSCoordinate();
        m_dOriginalHeading                 = stStartRoverPose.GetCompassHeading();
        // Get state start time.
        m_tmStuckStartTime = std::chrono::system_clock::now();
 
        // Stop drivetrain.
        globals::g_pDriveBoard->SendStop();
    }

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Exit()

void statemachine::StuckState::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, "StuckState: Exiting state.");
    }

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Run()

void statemachine::StuckState::Run ( )

overridevirtual

Run the state machine. Returns the next state.

Author

Eli Byrd (edbgk.nosp@m.k@ms.nosp@m.t.edu), Jason Pittman (jspen.nosp@m.cerp.nosp@m.ittma.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om), clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2024-01-17

Implements statemachine::State.

    {
        // Submit logger message.
        LOG_DEBUG(logging::g_qSharedLogger, "StuckState: Running state-specific behavior.");
 
        // Store the current postion and heading.
        geoops::RoverPose stCurrentRoverPose = globals::g_pWaypointHandler->SmartRetrieveRoverPose();
        // Get current time.
        std::chrono::system_clock::time_point tmCurrentTime = std::chrono::system_clock::now();
 
        // Check if we are unstuck from our starting spot.
        if (!this->SamePosition(m_stOriginalPosition, stCurrentRoverPose.GetGPSCoordinate()))
        {
            // Submit logger message.
            LOG_NOTICE(logging::g_qSharedLogger,
                       "StuckState: Rover has successfully unstuckith itself! A total of {} seconds was wasted being stuck.",
                       std::chrono::duration_cast<std::chrono::seconds>(tmCurrentTime - m_tmStuckStartTime).count());
            // Handing unstuck event. Destroy this unstuck state.
            globals::g_pStateMachineHandler->HandleEvent(Event::eUnstuck, false);
        }
        else
        {
            // Perform unstuck logic.
            switch (m_eAttemptType)
            {
                // On the first attempt we use the rover's original heading so alignment would already be completed.
                case AttemptType::eReverseCurrentHeading:
                {
                    // Submit logger message.
                    LOG_INFO(logging::g_qSharedLogger, "StuckState: Maintaining current heading and reversing...");
                    // Update stuck type enum for if we are still stuck after reversing.
                    m_eAttemptType = AttemptType::eReverseLeft;
                    // Handle reversing event. Save current state.
                    globals::g_pStateMachineHandler->HandleEvent(Event::eReverse, true);
                    break;
                }
                    // On the second attempt align the rover constants::STUCK_ALIGN_DEGREES degrees to the right of the original heading instead.
                case AttemptType::eReverseLeft:
                {
                    // Check if we are already realigning.
                    if (!m_bIsCurrentlyAligning)
                    {
                        // Submit logger message.
                        LOG_INFO(logging::g_qSharedLogger, "StuckState: Aligning rover heading {} degrees clockwise...", constants::STUCK_ALIGN_DEGREES);
                        // Set aligning toggle.
                        m_bIsCurrentlyAligning = true;
                        // Update start heading.
                        m_dOriginalHeading = stCurrentRoverPose.GetCompassHeading();
                        // Update start time.
                        m_tmAlignStartTime = std::chrono::system_clock::now();
                    }
                    else
                    {
                        // Calculate time elapsed since realignment was started.
                        double dTimeElapsed = std::chrono::duration_cast<std::chrono::seconds>(tmCurrentTime - m_tmAlignStartTime).count();
                        // Calculate the goal realignment heading.
                        double dGoalHeading = numops::InputAngleModulus<double>(m_dOriginalHeading + constants::STUCK_ALIGN_DEGREES, 0, 360);
                        // Calculate total rotation degrees so far.
                        double dRealignmentDegrees = numops::AngularDifference<double>(stCurrentRoverPose.GetCompassHeading(), dGoalHeading);
 
                        // Align drivetrain to a certain heading with 0 forward/reverse power.
                        diffdrive::DrivePowers stTurnPowers = globals::g_pDriveBoard->CalculateMove(0.0,
                                                                                                    dGoalHeading,
                                                                                                    stCurrentRoverPose.GetCompassHeading(),
                                                                                                    diffdrive::DifferentialControlMethod::eArcadeDrive);
                        // Send drive powers.
                        globals::g_pDriveBoard->SendDrive(stTurnPowers);
 
                        // Check if we have successfully realigned.
                        if (dRealignmentDegrees <= constants::STUCK_ALIGN_TOLERANCE)
                        {
                            // Submit logger message.
                            LOG_INFO(logging::g_qSharedLogger, "StuckState: Realignment complete! Reversing...");
                            // Update stuck type enum for if we are still stuck after reversing.
                            m_eAttemptType = AttemptType::eReverseRight;
                            // Reset currently aligning toggle.
                            m_bIsCurrentlyAligning = false;
                            // Handle reversing event.
                            globals::g_pStateMachineHandler->HandleEvent(Event::eReverse, true);
                        }
                        // If not aligned yet, check if we hit the timeout.
                        else if (dTimeElapsed >= constants::STUCK_HEADING_ALIGN_TIMEOUT)
                        {
                            // Submit logger message.
                            LOG_NOTICE(logging::g_qSharedLogger,
                                       "StuckState: Rotated/Realigned {} degrees in {} seconds before timeout was reached. Rover is still stuck...",
                                       constants::STUCK_ALIGN_DEGREES - dRealignmentDegrees,
                                       dTimeElapsed);
                            // Update stuck type enum for if we are still stuck after reversing.
                            m_eAttemptType = AttemptType::eReverseRight;
                            // Reset currently aligning toggle.
                            m_bIsCurrentlyAligning = false;
                            // Handle reversing event.
                            globals::g_pStateMachineHandler->HandleEvent(Event::eReverse, true);
                        }
                    }
                    break;
                }
                // For the third do it constants::STUCK_ALIGN_DEGREES degrees to the left of the original heading.
                case AttemptType::eReverseRight:
                {
                    // Check if we are already realigning.
                    if (!m_bIsCurrentlyAligning)
                    {
                        // Submit logger message.
                        LOG_INFO(logging::g_qSharedLogger, "StuckState: Aligning rover heading {} degrees counter-clockwise...", constants::STUCK_ALIGN_DEGREES);
                        // Set aligning toggle.
                        m_bIsCurrentlyAligning = true;
                        // Update start heading.
                        m_dOriginalHeading = stCurrentRoverPose.GetCompassHeading();
                        // Update start time.
                        m_tmAlignStartTime = std::chrono::system_clock::now();
                    }
                    else
                    {
                        // Calculate time elapsed since realignment was started.
                        double dTimeElapsed = std::chrono::duration_cast<std::chrono::seconds>(tmCurrentTime - m_tmAlignStartTime).count();
                        // Calculate the goal realignment heading.
                        double dGoalHeading = numops::InputAngleModulus<double>(m_dOriginalHeading - constants::STUCK_ALIGN_DEGREES, 0, 360);
                        // Calculate total rotation degrees so far.
                        double dRealignmentDegrees = numops::AngularDifference<double>(stCurrentRoverPose.GetCompassHeading(), dGoalHeading);
 
                        // Align drivetrain to a certain heading with 0 forward/reverse power.
                        diffdrive::DrivePowers stTurnPowers = globals::g_pDriveBoard->CalculateMove(0.0,
                                                                                                    dGoalHeading,
                                                                                                    stCurrentRoverPose.GetCompassHeading(),
                                                                                                    diffdrive::DifferentialControlMethod::eArcadeDrive);
                        // Send drive powers.
                        globals::g_pDriveBoard->SendDrive(stTurnPowers);
 
                        // Check if we have successfully realigned.
                        if (dRealignmentDegrees <= constants::STUCK_ALIGN_TOLERANCE)
                        {
                            // Submit logger message.
                            LOG_INFO(logging::g_qSharedLogger, "StuckState: Realignment complete! Reversing...");
                            // Update stuck type enum for if we are still stuck after reversing.
                            m_eAttemptType = AttemptType::eGiveUp;
                            // Reset currently aligning toggle.
                            m_bIsCurrentlyAligning = false;
                            // Handle reversing event.
                            globals::g_pStateMachineHandler->HandleEvent(Event::eReverse, true);
                        }
                        // If not aligned yet, check if we hit the timeout.
                        else if (dTimeElapsed >= constants::STUCK_HEADING_ALIGN_TIMEOUT)
                        {
                            // Submit logger message.
                            LOG_NOTICE(logging::g_qSharedLogger,
                                       "StuckState: Rotated/Realigned {} degrees in {} seconds before timeout was reached. Rover is still stuck...",
                                       constants::STUCK_ALIGN_DEGREES - dRealignmentDegrees,
                                       dTimeElapsed);
                            // Update stuck type enum for if we are still stuck after reversing.
                            m_eAttemptType = AttemptType::eGiveUp;
                            // Reset currently aligning toggle.
                            m_bIsCurrentlyAligning = false;
                            // Handle reversing event.
                            globals::g_pStateMachineHandler->HandleEvent(Event::eReverse, true);
                        }
                    }
                    break;
                }
                case AttemptType::eGiveUp:
                {
                    // Submit logger message.
                    LOG_WARNING(logging::g_qSharedLogger, "StuckState: After multiple attempts, autonomy was unable to get the rover unstuck. Giving Up...");
                    // Return to idle.
                    globals::g_pStateMachineHandler->HandleEvent(Event::eAbort);
                    break;
                }
                default:
                {
                    // Submit logger message.
                    LOG_ERROR(logging::g_qSharedLogger, "StuckState: Unknown attempt type!");
                    // Return to idle.
                    globals::g_pStateMachineHandler->HandleEvent(Event::eAbort);
                    break;
                }
            }
        }
    }

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TriggerEvent()

States statemachine::StuckState::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), clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2024-01-17

Implements statemachine::State.

    {
        // Create instance variables.
        States eNextState       = States::eStuck;
        bool bCompleteStateExit = true;
 
        switch (eEvent)
        {
            case Event::eStart:
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "StuckState: Handling Start event.");
                // Send multimedia command to update state display.
                globals::g_pMultimediaBoard->SendLightingState(MultimediaBoard::MultimediaBoardLightingState::eAutonomy);
                break;
            }
            case Event::eAbort:
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "StuckState: Handling Abort event.");
                // Send multimedia command to update state display.
                globals::g_pMultimediaBoard->SendLightingState(MultimediaBoard::MultimediaBoardLightingState::eAutonomy);
                // Change state.
                eNextState = States::eIdle;
                break;
            }
            case Event::eReverse:
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "StuckState: Handling Reverse event.");
                // Change state.
                eNextState = States::eReversing;
                break;
            }
            case Event::eUnstuck:
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "StuckState: Handling Unstuck event.");
                // Change state back to the state that originally got stuck.
                eNextState = m_eTriggeringState;
                break;
            }
            default:
            {
                LOG_WARNING(logging::g_qSharedLogger, "StuckState: Handling unknown event.");
                eNextState = States::eIdle;
                break;
            }
        }
 
        if (eNextState != States::eStuck)
        {
            LOG_INFO(logging::g_qSharedLogger, "StuckState: 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/StuckState.h
• src/states/StuckState.cpp