simple_states.H

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// Copyright (C) 2007 University of Louisiana at Lafayette
// Authors: Suresh Golconda

#ifndef CAJUN_SIMPLE_STATE_MACHINE_H
#define CAJUN_SIMPLE_STATE_MACHINE_H

#include "base_state_machine.H"
#include "state_defs.H"

#include <cfloat>
namespace cajun
{
class safe_state_t : public base_state_machine_t
{
public:
        safe_state_t (double tstamp_)
        {
                m_state_id = SAFE;
                m_tstamp_since = tstamp_;
                m_name = "SAFE";
        }
        state_machine_id_t new_state (state_machine_t *sm_);
};

class confirm_obstacle_t : public base_state_machine_t
{
public:
        confirm_obstacle_t (double tstamp_)
        {
                m_state_id = CONFIRM_OBSTACLE;
                m_tstamp_since = tstamp_;
                m_name = "CONFIRM_OBSTACLE";
                m_bot_stopped_in_this_state_since = FLT_MAX;
        }
        state_machine_id_t new_state (state_machine_t *sm_);
        bool update (state_machine_t *sm_);

private:
        double m_bot_stopped_in_this_state_since;

        bool did_bot_stopped_long_enough ();

};

// /*!\brief Intermediate state for switching to any of action states after the
//  * lane blockage is confirm*/
class lane_blocked_t : public base_state_machine_t
{
public:
        lane_blocked_t (double tstamp_)
        {
                m_state_id = LANE_BLOCKED;
                m_tstamp_since = tstamp_;
                m_name = "LANE_BLOCKED";
        }
        state_machine_id_t new_state (state_machine_t *sm_);
};

class pre_stop_lane_blocked_t : public base_state_machine_t
{
public:
        pre_stop_lane_blocked_t (double tstamp_)
        {
                m_state_id = PRE_STOP_LANE_BLOCKED;
                m_tstamp_since = tstamp_;
                m_name = "PRE_STOP_LANE_BLOCKED";
        }
        state_machine_id_t new_state (state_machine_t *sm_);
};

class intersection_blocked_t : public base_state_machine_t
{
public:
        intersection_blocked_t (double tstamp_)
        {
                m_state_id = INTERSECTION_BLOCKED;
                m_tstamp_since = tstamp_;
                m_name = "INTERSECTION_BLOCKED";
        }
        state_machine_id_t new_state (state_machine_t *sm_);
};

class post_stop_lane_blocked_t : public base_state_machine_t
{
public:
        post_stop_lane_blocked_t (double tstamp_)
        {
                m_state_id = POST_STOP_LANE_BLOCKED;
                m_tstamp_since = tstamp_;
                m_name = "POST_STOP_LANE_BLOCKED";
        }
        state_machine_id_t new_state (state_machine_t *sm_);
};

class intersection_queueing_t : public base_state_machine_t
{
public:
        intersection_queueing_t (double tstamp_)
        {
                m_state_id = INTERSECTION_QUEUEING;
                m_tstamp_since = tstamp_;
                m_name = "INTERSECTION_QUEUEING";
        }
        state_machine_id_t new_state (state_machine_t *sm_);
};

class changing_lane_t : public base_state_machine_t
{
        bool m_first_iter;
public:
        changing_lane_t (double tstamp_)
        {
                m_state_id = CHANGING_LANE;
                m_tstamp_since = tstamp_;
                m_first_iter = true;
                m_name = "CHANGING_LANE";
        }
        state_machine_id_t new_state (state_machine_t *sm_);
        bool update (state_machine_t *sm_);
};

class passing_lane_t : public base_state_machine_t
{
        bool m_first_iter;
public:
        passing_lane_t (double tstamp_)
        {
                m_state_id = PASSING_LANE;
                m_tstamp_since = tstamp_;
                m_first_iter = true;
                m_name = "PASSING_LANE";
        }
        state_machine_id_t new_state (state_machine_t *sm_);
        bool update (state_machine_t *sm_);
};

class uturn_state_t : public base_state_machine_t
{
        bool m_first_iter;
public:
        uturn_state_t (double tstamp_)
        {
                m_state_id = UTURN;
                m_tstamp_since = tstamp_;
                m_first_iter = true;
                m_name = "UTURN";
        }
        state_machine_id_t new_state (state_machine_t *sm_);
        bool update (state_machine_t *sm_);
};
};

#endif

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