StuckState.h

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#ifndef STUCK_STATE_H
#define STUCK_STATE_H
 
#include "../interfaces/State.hpp"
#include "../util/GeospatialOperations.hpp"
 
#include <chrono>
 
 
 
namespace statemachine
{
 
    class StuckState : public State
    {
        private:
            // Declare private enums and structs that are specific to and used withing this class.
 
            enum class AttemptType
            {
                eReverseCurrentHeading,
                eReverseLeft,
                eReverseRight,
                eGiveUp
            };
 
            // Declare private member variables.
            bool m_bInitialized;
            States m_eTriggeringState;                                   // The state that the rover got stuck in before triggering a stuck event.
            AttemptType m_eAttemptType;                                  // Current attempt we are on for a given position.
            geoops::GPSCoordinate m_stOriginalPosition;                  // Original position where rover was reported stuck.
            double m_dOriginalHeading;                                   // Original heading the rover was at when reported stuck.
            bool m_bIsCurrentlyAligning;                                 // Is the rover currently trying to align with a target heading.
            std::chrono::system_clock::time_point m_tmStuckStartTime;    // The timestamp storing when the rover starting stuck state.
            std::chrono::system_clock::time_point m_tmAlignStartTime;    // The timestamp storing when the rover starting realigning.
 
            // Declare private class methods.
            bool SamePosition(const geoops::GPSCoordinate& stOriginalPosition, const geoops::GPSCoordinate& stCurrPosition);
            void DeclareObstacle();
            void ModifyPath();
            void SplicePath(std::vector<geoops::Waypoint>& vPath, const geoops::UTMCoordinate& stObstaclePosition);
 
        protected:
            // Declare protected class methods.
            void Start() override;
            void Exit() override;
 
        public:
            // Declare public class methods.
            StuckState();
            void Run() override;
            States TriggerEvent(Event eEvent) override;
    };
}    // namespace statemachine
 
#endif    // STUCKSTATE_H