sample_logic_state_machine.h

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#pragma once
#include <aerial_autonomy/robot_systems/uav_arm_system.h>
#include <aerial_autonomy/robot_systems/uav_system.h>
#include <aerial_autonomy/robot_systems/uav_vision_system.h>
#include <aerial_autonomy/state_machines/base_state_machine.h>
#include <aerial_autonomy/types/position_yaw.h>
#include <type_traits>

struct EmptyRobotSystem {};

template <class RobotSystemT>
class SampleLogicStateMachine_ : public BaseStateMachine<RobotSystemT> {
  std::type_index type_index_event_ = typeid(NULL);
  PositionYaw pose_event_;

public:
  SampleLogicStateMachine_(RobotSystemT &robot_system)
      : BaseStateMachine<RobotSystemT>(robot_system) {}

  template <class Event> void process_event(const Event &event) {
    type_index_event_ = typeid(event);
  }

  void process_event(const PositionYaw &event) {
    type_index_event_ = typeid(event);
    pose_event_ = event;
  }
  std::type_index getProcessEventTypeId() { return type_index_event_; }
  PositionYaw getPoseEvent() { return pose_event_; }
};

using SampleLogicStateMachine = SampleLogicStateMachine_<EmptyRobotSystem>;
using UAVLogicStateMachine = SampleLogicStateMachine_<UAVSystem>;
using UAVVisionLogicStateMachine = SampleLogicStateMachine_<UAVVisionSystem>;
using UAVArmLogicStateMachine = SampleLogicStateMachine_<UAVArmSystem>;