uav_state_machine.h

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#pragma once

// back-end
#include <aerial_autonomy/common/thread_safe_state_machine.h>

// front-end
#include <boost/msm/front/state_machine_def.hpp>

// functors
#include <boost/msm/front/functor_row.hpp>

// Actions and guards used
#include <aerial_autonomy/actions_guards/uav_states_actions.h>

// Robot System used
#include <aerial_autonomy/robot_systems/uav_system.h>

// Logging library
#include <glog/logging.h>

// Store state machine states
#include <array>

// Base state machine
#include <aerial_autonomy/state_machines/base_state_machine.h>

namespace msmf = boost::msm::front;
namespace be = uav_basic_events;

// Forward Declaration
struct UAVStateMachineFrontEnd;

using UAVStateMachine =
    boost::msm::back::thread_safe_state_machine<UAVStateMachineFrontEnd>;

using usa = UAVStatesActions<UAVStateMachine>;

class UAVStateMachineFrontEnd
    : public msmf::state_machine_def<UAVStateMachineFrontEnd>,
      public BaseStateMachine<UAVSystem> {
public:
  template <class Event, class FSM> void on_entry(Event const &, FSM &) {
    VLOG(1) << "entering: UAV system";
  }
  template <class Event, class FSM> void on_exit(Event const &, FSM &) {
    VLOG(1) << "leaving: UAV system";
  }

  UAVStateMachineFrontEnd(UAVSystem &uav_system)
      : BaseStateMachine(uav_system) {}

  using initial_state = usa::ManualControlState;
  struct transition_table
      : boost::mpl::vector<
            //        Start          Event         Next           Action Guard
            //        +--------------+-------------+--------------+---------------------+---------------------------+
            msmf::Row<usa::Landed, be::Takeoff, usa::TakingOff,
                      usa::TakeoffAction, usa::TakeoffGuard>,
            msmf::Row<usa::Landed, ManualControlEvent, usa::ManualControlState,
                      msmf::none, msmf::none>,
            //        +--------------+-------------+--------------+---------------------+---------------------------+
            msmf::Row<usa::TakingOff, Completed, usa::Hovering, msmf::none,
                      msmf::none>,
            //        +--------------+-------------+--------------+---------------------+---------------------------+
            msmf::Row<usa::Hovering, PositionYaw, usa::ReachingGoal,
                      usa::ReachingGoalSet, usa::ReachingGoalGuard>,
            msmf::Row<usa::Hovering, be::Land, usa::Landing, usa::LandingAction,
                      msmf::none>,
            msmf::Row<usa::Hovering, ManualControlEvent,
                      usa::ManualControlState, msmf::none, msmf::none>,
            //        +--------------+-------------+--------------+---------------------+---------------------------+
            msmf::Row<usa::ReachingGoal, be::Abort, usa::Hovering,
                      usa::UAVControllerAbort, msmf::none>,
            msmf::Row<usa::ReachingGoal, be::Land, usa::Landing,
                      usa::ReachingGoalLand, msmf::none>,
            //        +--------------+-------------+--------------+---------------------+---------------------------+
            msmf::Row<usa::Landing, Completed, usa::Landed, msmf::none,
                      msmf::none>,
            msmf::Row<usa::ReachingGoal, Completed, usa::Hovering,
                      usa::UAVControllerAbort, msmf::none>,
            //        +--------------+-------------+--------------+---------------------+---------------------------+
            msmf::Row<usa::ManualControlState, be::Takeoff, usa::Hovering,
                      usa::ManualControlSwitchAction,
                      usa::ManualControlSwitchGuard>,
            msmf::Row<usa::ManualControlState, be::Land, usa::Landed,
                      usa::ManualControlSwitchAction,
                      usa::ManualControlSwitchGuard>
            //        +--------------+-------------+--------------+---------------------+---------------------------+
            > {};
  using BaseStateMachine<UAVSystem>::no_transition;
};

static constexpr std::array<const char *, 6> state_names = {
    "Landed",       "TakingOff", "Hovering",
    "ReachingGoal", "Landing",   "ManualControlState"};
const char *pstate(UAVStateMachine const &p) {
  return state_names.at(p.current_state()[0]);
}