statemachine::VerifyingPositionState Class Reference

The VerifyingPositionState class implements the Verifying Position state for the Autonomy State Machine. More...

#include <VerifyingPositionState.h>

Inheritance diagram for statemachine::VerifyingPositionState:

Collaboration diagram for statemachine::VerifyingPositionState:

Public Member Functions
	VerifyingPositionState ()
	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
std::vector< geoops::GPSCoordinate >	m_vCheckPoints
int	m_nMaxDataPoints
bool	m_bInitialized
std::chrono::system_clock::time_point	m_tmVerifyStartTime

Detailed Description

The VerifyingPositionState class implements the Verifying Position state for the Autonomy State Machine.

Author

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

Date

2024-05-24

Constructor & Destructor Documentation

VerifyingPositionState()

statemachine::VerifyingPositionState::VerifyingPositionState

(

)

Construct a new State object.

Author

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

Date

2024-05-24

                                                   : State(States::eVerifyingPosition)
    {
        LOG_INFO(logging::g_qConsoleLogger, "Entering State: {}", ToString());
        // Initialize member variables.
        m_bInitialized = false;
 
        if (!m_bInitialized)
        {
            Start();
            m_bInitialized = true;
        }
    }

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Member Function Documentation

Start()

void statemachine::VerifyingPositionState::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

2024-05-24

Reimplemented from statemachine::State.

    {
        // Schedule the next run of the state's logic
        LOG_INFO(logging::g_qSharedLogger, "VerifyingPositionState: Scheduling next run of state logic.");
 
        m_tmVerifyStartTime = std::chrono::system_clock::now();
    }

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Exit()

void statemachine::VerifyingPositionState::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

2024-05-24

Reimplemented from statemachine::State.

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

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Run()

void statemachine::VerifyingPositionState::Run ( )

overridevirtual

Run the state machine. Returns the next state.

Author

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

Date

2024-05-24

Implements statemachine::State.

    {
        LOG_DEBUG(logging::g_qSharedLogger, "VerifyingPositionState: Running state-specific behavior.");
 
        std::chrono::system_clock::time_point tmCurrentTime = std::chrono::system_clock::now();
        double dTimeElapsed                                 = std::chrono::duration_cast<std::chrono::milliseconds>(tmCurrentTime - m_tmVerifyStartTime).count() / 1000.0;
 
        if (dTimeElapsed <= constants::NAVIGATING_VERIFY_SAMPLE_TIME)
        {
            if (!globals::g_pNavigationBoard->IsOutOfDate())
            {
                m_vCheckPoints.emplace_back(globals::g_pNavigationBoard->GetGPSData());
            }
        }
        else
        {
            // Realign the ZED
            globals::g_pStateMachineHandler->RealignZEDPosition(CameraHandler::ZEDCamName::eHeadMainCam,
                                                                geoops::ConvertGPSToUTM(globals::g_pNavigationBoard->GetGPSData()),
                                                                globals::g_pNavigationBoard->GetHeading());
 
            // Create Average GPS Coordinate
            geoops::GPSCoordinate stAverage = geoops::GPSCoordinate();
 
            // Calculate Sum of GPS Coordinates
            for (geoops::GPSCoordinate& stPoint : m_vCheckPoints)
            {
                stAverage.dLatitude += stPoint.dLatitude;
                stAverage.dLongitude += stPoint.dLongitude;
            }
 
            // Calculate Average GPS Coordinate
            stAverage.dLatitude /= m_vCheckPoints.size();
            stAverage.dLongitude /= m_vCheckPoints.size();
 
            // Calculate distance and bearing from goal waypoint.
            geoops::GeoMeasurement stGoalWaypointMeasurement =
                geoops::CalculateGeoMeasurement(stAverage, globals::g_pWaypointHandler->PeekNextWaypoint().GetGPSCoordinate());
 
            // Check if the rover is within the goal waypoint's tolerance.
            if (stGoalWaypointMeasurement.dDistanceMeters > constants::NAVIGATING_REACHED_GOAL_RADIUS)
            {
                // Trigger event to transition to next state.
                globals::g_pStateMachineHandler->HandleEvent(Event::eVerifyingFailed, false);
            }
            else
            {
                // Trigger event to transition to next state.
                globals::g_pStateMachineHandler->HandleEvent(Event::eVerifyingComplete, false);
            }
        }
    }

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TriggerEvent()

States statemachine::VerifyingPositionState::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

2024-05-24

Implements statemachine::State.

    {
        // Create instance variables.
        States eNextState       = States::eVerifyingPosition;
        bool bCompleteStateExit = true;
 
        switch (eEvent)
        {
            case Event::eStart:
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "VerifyingPositionState: Handling Start event.");
                // Send multimedia command to update state display.
                globals::g_pMultimediaBoard->SendLightingState(MultimediaBoard::MultimediaBoardLightingState::eAutonomy);
                break;
            }
            case Event::eVerifyingComplete:
            {
                LOG_INFO(logging::g_qSharedLogger, "VerifyingPositionState: Handling Verifying Complete event.");
                // Send multimedia command to update state display.
                globals::g_pMultimediaBoard->SendLightingState(MultimediaBoard::MultimediaBoardLightingState::eReachedGoal);
                // Pop the next waypoint.
                globals::g_pWaypointHandler->PopNextWaypoint();
                // Change state.
                eNextState = States::eIdle;
                break;
            }
            case Event::eVerifyingFailed:
            {
                LOG_INFO(logging::g_qSharedLogger, "VerifyingPositionState: Handling Verifying Failed event.");
                // Send multimedia command to update state display.
                globals::g_pMultimediaBoard->SendLightingState(MultimediaBoard::MultimediaBoardLightingState::eAutonomy);
                // Recall the previous state. This should always be navigation, but we use previous state to be safe.
                eNextState = globals::g_pStateMachineHandler->GetPreviousState();
                break;
            }
            case Event::eAbort:
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "VerifyingPositionState: 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, "VerifyingPositionState: Handling unknown event.");
                eNextState = States::eIdle;
                break;
            }
        }
 
        if (eNextState != States::eVerifyingPosition)
        {
            LOG_INFO(logging::g_qSharedLogger, "VerifyingPositionState: 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/VerifyingPositionState.h
• src/states/VerifyingPositionState.cpp