statemachine::VerifyingObjectState Class Reference

The VerifyingObjectState class implements the Verifying Object state for the Autonomy State Machine. More...

#include <VerifyingObjectState.h>

Inheritance diagram for statemachine::VerifyingObjectState:

Collaboration diagram for statemachine::VerifyingObjectState:

Public Member Functions
	VerifyingObjectState ()
	Accessor for the State private member. Returns the state as a string.
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
bool	m_bInitialized
geoops::Waypoint	m_stGoalWaypoint
std::vector< std::shared_ptr< ObjectDetector > >	m_vObjectDetectors
std::chrono::system_clock::time_point	m_tmObjectVerificationStartTime
std::chrono::system_clock::time_point	m_tmObjectLastSeenTime

Detailed Description

The VerifyingObjectState class implements the Verifying Object state for the Autonomy State Machine.

Author

Sam Hajdukiewicz (saman.nosp@m.thah.nosp@m.ajduk.nosp@m.iewi.nosp@m.cz@gm.nosp@m.ail..nosp@m.com)

Date

2024-01-17

Constructor & Destructor Documentation

VerifyingObjectState()

statemachine::VerifyingObjectState::VerifyingObjectState

(

)

Accessor for the State private member. Returns the state as a string.

Returns

std::string - The current state as a string.

Author

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

Date

2024-01-17

                                               : State(States::eVerifyingObject)
    {
        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::VerifyingObjectState::Start ( )

overrideprotectedvirtual

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

Author

Sam Hajdukiewicz (saman.nosp@m.thah.nosp@m.ajduk.nosp@m.iewi.nosp@m.cz@gm.nosp@m.ail..nosp@m.com)

Date

2024-01-17

Reimplemented from statemachine::State.

    {
        // Schedule the next run of the state's logic
        LOG_INFO(logging::g_qSharedLogger, "VerifyingObjectState: Scheduling next run of state logic.");
 
        // Initialize member variables.
        m_stGoalWaypoint                = globals::g_pWaypointHandler->PeekNextWaypoint();
        m_tmObjectVerificationStartTime = std::chrono::system_clock::now();
        m_tmObjectLastSeenTime          = std::chrono::system_clock::now();
 
        // Get object detectors.
        m_vObjectDetectors = {globals::g_pObjectDetectionHandler->GetObjectDetector(ObjectDetectionHandler::ObjectDetectors::eHeadMainCam)};
    }

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Exit()

void statemachine::VerifyingObjectState::Exit ( )

overrideprotectedvirtual

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

Author

Sam Hajdukiewicz (saman.nosp@m.thah.nosp@m.ajduk.nosp@m.iewi.nosp@m.cz@gm.nosp@m.ail..nosp@m.com)

Date

2024-01-17

Reimplemented from statemachine::State.

    {
        // Clean up the state before exiting
        LOG_INFO(logging::g_qSharedLogger, "VerifyingObjectState: Exiting state.");
    }

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Run()

void statemachine::VerifyingObjectState::Run ( )

overridevirtual

Run the state machine. Returns the next state.

Author

Sam Hajdukiewicz (saman.nosp@m.thah.nosp@m.ajduk.nosp@m.iewi.nosp@m.cz@gm.nosp@m.ail..nosp@m.com)

Date

2024-01-17

Implements statemachine::State.

    {
        LOG_DEBUG(logging::g_qSharedLogger, "VerifyingObjectState: Running state-specific behavior.");
 
        // Identify target object.
        objectdetectutils::Object stBestObject;
        statemachine::IdentifyTargetObject(m_vObjectDetectors, stBestObject, m_stGoalWaypoint.eType);
        // Calculate how long we've been in this state.
        std::chrono::system_clock::time_point tmCurrentTime = std::chrono::system_clock::now();
        double dElapsedTime = std::chrono::duration_cast<std::chrono::milliseconds>(tmCurrentTime - m_tmObjectVerificationStartTime).count() / 1000.0;
        // Calculate the time since the last time we saw an object.
        double dTimeSinceLastSeen = std::chrono::duration_cast<std::chrono::milliseconds>(tmCurrentTime - m_tmObjectLastSeenTime).count() / 1000.0;
 
        /*
            If we consistently detect an object for a certain amount of time, we can assume that we are in fact in front of the object.
            At this point, we can also assume we are close enough for the pointcloud to be usable and pick up the object.
        */
        // Check if object is detected.
        if (stBestObject.dConfidence == 0.0)
        {
            // Check if the time last seen is greater than the time to give up.
            if (dTimeSinceLastSeen > constants::APPROACH_OBJECT_LOST_BUFFER_TIME)
            {
                // No objects are detected, trigger verify failed event.
                LOG_INFO(logging::g_qSharedLogger, "VerifyingObjectState: No objects detected. Triggering verify failed event.");
                globals::g_pStateMachineHandler->HandleEvent(Event::eVerifyingFailed);
                return;
            }
        }
        else
        {
            // Check the object distance.
            if (stBestObject.dConfidence > 0.0 && stBestObject.dStraightLineDistance > constants::APPROACH_OBJECT_PROXIMITY_THRESHOLD)
            {
                // Object is too far away, trigger verify failed event.
                LOG_INFO(logging::g_qSharedLogger, "VerifyingObjectState: Object detected but too far away. Triggering verify failed event.");
                globals::g_pStateMachineHandler->HandleEvent(Event::eVerifyingFailed);
                return;
            }
 
            // Update time last seen.
            m_tmObjectLastSeenTime = std::chrono::system_clock::now();
 
            // Check if we have been in this state long enough to verify the object.
            if (dElapsedTime >= constants::APPROACH_OBJECT_VERIFY_TIME)
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "VerifyingObjectState: Object verified. Triggering verify complete event.");
                // Trigger verify complete event.
                globals::g_pStateMachineHandler->HandleEvent(Event::eVerifyingComplete);
                return;
            }
        }
    }

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TriggerEvent()

States statemachine::VerifyingObjectState::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

Sam Hajdukiewicz (saman.nosp@m.thah.nosp@m.ajduk.nosp@m.iewi.nosp@m.cz@gm.nosp@m.ail..nosp@m.com)

Date

2024-01-17

Implements statemachine::State.

    {
        // Create instance variables.
        States eNextState       = States::eVerifyingObject;
        bool bCompleteStateExit = true;
 
        switch (eEvent)
        {
            case Event::eStart:
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "VerifyingObjectState: Handling Start event.");
                // Send multimedia command to update state display.
                globals::g_pMultimediaBoard->SendLightingState(MultimediaBoard::MultimediaBoardLightingState::eAutonomy);
                break;
            }
            case Event::eVerifyingComplete:
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "VerifyingObjectState: Handling Verifying Complete event.");
                // Send multimedia command to update state display.
                globals::g_pMultimediaBoard->SendLightingState(MultimediaBoard::MultimediaBoardLightingState::eReachedGoal);
                // Pop old waypoint out of queue.
                globals::g_pWaypointHandler->PopNextWaypoint();
                // Clear saved states.
                globals::g_pStateMachineHandler->ClearSavedStates();
                // Submit logger message.
                LOG_NOTICE(logging::g_qSharedLogger, "VerifyingObjectState: Cleared old saved states.");
                // Change state.
                eNextState = States::eIdle;
                break;
            }
            case Event::eVerifyingFailed:
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "VerifyingObjectState: Handling Verifying Failed event.");
                // Send multimedia command to update state display.
                globals::g_pMultimediaBoard->SendLightingState(MultimediaBoard::MultimediaBoardLightingState::eAutonomy);
                // Recall the previous state.
                eNextState = globals::g_pStateMachineHandler->GetPreviousState();
                break;
            }
            case Event::eAbort:
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "VerifyingObjectState: Handling Abort event.");
                // Send multimedia command to update state display.
                globals::g_pMultimediaBoard->SendLightingState(MultimediaBoard::MultimediaBoardLightingState::eOff);
                // Change state.
                eNextState = States::eIdle;
                break;
            }
            default:
            {
                LOG_WARNING(logging::g_qSharedLogger, "VerifyingObjectState: Handling unknown event.");
                eNextState = States::eIdle;
                break;
            }
        }
 
        if (eNextState != States::eVerifyingObject)
        {
            LOG_INFO(logging::g_qSharedLogger, "VerifyingObjectState: 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/VerifyingObjectState.h
• src/states/VerifyingObjectState.cpp