statemachine::ApproachingObjectState Class Reference

The ApproachingObjectState class implements the Approaching Object state for the Autonomy State Machine. More...

#include <ApproachingObjectState.h>

Inheritance diagram for statemachine::ApproachingObjectState:

Collaboration diagram for statemachine::ApproachingObjectState:

Public Member Functions
	ApproachingObjectState ()
	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< std::shared_ptr< ObjectDetector > >	m_vObjectDetectors
statemachine::TimeIntervalBasedStuckDetector	m_StuckDetector
States	m_eTriggeringState
bool	m_bInitialized
geoops::Waypoint	m_stGoalWaypoint
double	m_dHeadingSetPoint
bool	m_bDriveBackwards
geoops::Waypoint	m_stLastGeolocatedPosition
bool	m_bHasLastGeolocatedPosition
bool	m_bHasSeenTarget
std::chrono::system_clock::time_point	m_tmLastSeenTime
std::chrono::system_clock::time_point	m_tmLastLogTime
bool	m_bAlreadyPrintedLost
bool	m_bAlreadyPrintedVisualLostFallback

Detailed Description

The ApproachingObjectState class implements the Approaching Object state for the Autonomy State Machine.

Author

Eli Byrd (edbgk.nosp@m.k@ms.nosp@m.t.edu), Sam Hajdukiewicz (saman.nosp@m.thah.nosp@m.ajduk.nosp@m.iewi.nosp@m.cz@gm.nosp@m.ail..nosp@m.com)

Date

2024-01-17

Constructor & Destructor Documentation

ApproachingObjectState()

statemachine::ApproachingObjectState::ApproachingObjectState

(

)

Construct a new State object.

Author

Sam Hajdukiewicz (saman.nosp@m.thah.nosp@m.ajduk.nosp@m.iewi.nosp@m.cz@gm.nosp@m.ail..nosp@m.com)

Date

2024-01-17

                                                   : State(States::eApproachingObject)
    {
        LOG_INFO(logging::g_qConsoleLogger, "Entering State: {}", ToString());
 
        m_bInitialized  = false;
 
        m_StuckDetector = statemachine::TimeIntervalBasedStuckDetector(constants::APPROACH_OBJECT_STUCK_CHECK_ATTEMPTS, constants::APPROACH_OBJECT_STUCK_CHECK_INTERVAL);
 
        if (!m_bInitialized)
        {
            Start();
            m_bInitialized = true;
        }
    }

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Member Function Documentation

Start()

void statemachine::ApproachingObjectState::Start ( )

overrideprotectedvirtual

This method is called when the state is first started. It is used to initialize the state.

Author

Sam Hajdukiewicz (saman.nosp@m.thah.nosp@m.ajduk.nosp@m.iewi.nosp@m.cz@gm.nosp@m.ail..nosp@m.com)

Date

2024-01-17

Reimplemented from statemachine::State.

    {
        // Schedule the next run of the state's logic.
        LOG_INFO(logging::g_qSharedLogger, "ApproachingObjectState: Scheduling next run of state logic.");
 
        // Initialize target parameters.
        m_stGoalWaypoint   = globals::g_pWaypointHandler->PeekNextWaypoint();
        m_eTriggeringState = globals::g_pStateMachineHandler->GetPreviousState();
 
        // Schedule the next run of the state's logic.
        LOG_INFO(logging::g_qSharedLogger,
                 "ApproachingObjectState: Started. Goal Waypoint -> Lat: {:.6f}, Lon: {:.6f}, Radius: {:.2f}m. Previous State: {}",
                 m_stGoalWaypoint.GetGPSCoordinate().dLatitude,
                 m_stGoalWaypoint.GetGPSCoordinate().dLongitude,
                 m_stGoalWaypoint.dRadius,
                 StateToString(m_eTriggeringState));
 
        // Fetch detectors.
        m_vObjectDetectors = {globals::g_pObjectDetectionHandler->GetObjectDetector(ObjectDetectionHandler::ObjectDetectors::eHeadMainCam),
                              globals::g_pObjectDetectionHandler->GetObjectDetector(ObjectDetectionHandler::ObjectDetectors::eRearCam)};
 
        LOG_INFO(logging::g_qSharedLogger, "ApproachingObjectState: Fetched {} object detectors for tracking.", m_vObjectDetectors.size());
 
        // Reset all persistent tracking variables for a clean slate.
        m_dHeadingSetPoint                  = 0.0;
        m_bDriveBackwards                   = false;
        m_bHasLastGeolocatedPosition        = false;
        m_bHasSeenTarget                    = false;
        m_bAlreadyPrintedLost               = false;
        m_bAlreadyPrintedVisualLostFallback = false;
        m_tmLastSeenTime                    = std::chrono::system_clock::now();
        m_tmLastLogTime                     = std::chrono::system_clock::now();
    }

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Exit()

void statemachine::ApproachingObjectState::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

2024-01-17

Reimplemented from statemachine::State.

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

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Run()

void statemachine::ApproachingObjectState::Run ( )

overridevirtual

Run the state machine. Returns the next state.

Author

Sam Hajdukiewicz (saman.nosp@m.thah.nosp@m.ajduk.nosp@m.iewi.nosp@m.cz@gm.nosp@m.ail..nosp@m.com)

Date

2024-01-17

STATE LOGIC FLOW:

1. Geofence Check: Verify the rover is within the goal waypoint's radius.
2. Target Identification: Find the closest target across all cameras.
3. High Confidence Check: If object is highly confident, STOP and verify.
4. Navigation Decision Tree: Track low-confidence hits or fallbacks.
5. Execution: Send drive commands and run stuck detection.

Implements statemachine::State.

    {
 
        LOG_DEBUG(logging::g_qSharedLogger, "ApproachingObjectState: Running state-specific behavior.");
 
        // Get the current rover pose and add to plot.
        geoops::RoverPose stCurrentRoverPose = globals::g_pStateMachineHandler->SmartRetrieveRoverPose();
 
        // 1. Boundary Check: Verify rover radius from object waypoint.
        geoops::GeoMeasurement stCurrentMeasurement = geoops::CalculateGeoMeasurement(m_stGoalWaypoint.GetGPSCoordinate(), stCurrentRoverPose.GetGPSCoordinate());
        if (stCurrentMeasurement.dDistanceMeters > m_stGoalWaypoint.dRadius)
        {
            LOG_WARNING(logging::g_qSharedLogger,
                        "ApproachingObjectState: Rover broke geofence! Radius threshold is {} m, current distance is {:.2f} m. Triggering ObjectUnseen.",
                        m_stGoalWaypoint.dRadius,
                        stCurrentMeasurement.dDistanceMeters);
            globals::g_pStateMachineHandler->HandleEvent(Event::eObjectUnseen);
            return;
        }
 
        // 2. Identify target object.
        objectdetectutils::Object stBestObject;
        statemachine::IdentifyTargetObject(m_vObjectDetectors, stBestObject, m_stGoalWaypoint.eType);
 
        std::chrono::system_clock::time_point tmCurrentTime = std::chrono::system_clock::now();
        double dSecondsSinceLastSeen                        = std::chrono::duration_cast<std::chrono::milliseconds>(tmCurrentTime - m_tmLastSeenTime).count() / 1000.0;
 
        // Clear stale session data if re-entered after a long time.
        if (dSecondsSinceLastSeen > constants::APPROACH_OBJECT_LOST_GIVE_UP_TIME + 5.0)
        {
            m_bHasLastGeolocatedPosition = false;
        }
 
        // 3. Object Detected -> IMMEDIATE STOP AND VERIFY (No distance check!)
        if (stBestObject.dConfidence > 0.0)
        {
            LOG_NOTICE(logging::g_qSharedLogger, "ApproachingObjectState: OBJECT DETECTED ({:.2f}%). Halting to verify!", stBestObject.dConfidence * 100.0);
 
            globals::g_pDriveBoard->SendStop();
            globals::g_pStateMachineHandler->HandleEvent(Event::eReachedObject, true);
            return;
        }
 
        // 4. Object unseen fallback logic
        if (dSecondsSinceLastSeen > constants::APPROACH_OBJECT_LOST_GIVE_UP_TIME)
        {
            LOG_WARNING(logging::g_qSharedLogger,
                        "ApproachingObjectState: Object has been unseen for {:.2f}s (Threshold: {:.2f}s). Giving up and triggering ObjectUnseen.",
                        dSecondsSinceLastSeen,
                        constants::APPROACH_OBJECT_LOST_GIVE_UP_TIME);
            globals::g_pStateMachineHandler->HandleEvent(Event::eObjectUnseen);
            return;
        }
 
        if (!m_bAlreadyPrintedLost)
        {
            m_bAlreadyPrintedLost = true;
            LOG_WARNING(logging::g_qSharedLogger, "ApproachingObjectState: Tracking lost! No valid objects detected across any camera.");
        }
 
        // Fallback 1: Drive to last known geolocated position if available.
        if (m_bHasLastGeolocatedPosition)
        {
            geoops::GeoMeasurement stLastMeasurement =
                geoops::CalculateGeoMeasurement(stCurrentRoverPose.GetUTMCoordinate(), m_stLastGeolocatedPosition.GetUTMCoordinate());
            m_dHeadingSetPoint = stLastMeasurement.dStartRelativeBearing;
 
            if (!m_bAlreadyPrintedVisualLostFallback)
            {
                LOG_NOTICE(logging::g_qSharedLogger,
                           "ApproachingObjectState: [FALLBACK 1] Visual lost. Driving to last known geolocated UTM: [{:.2f}E, {:.2f}N]. Target Bearing: {:.2f} degrees",
                           m_stLastGeolocatedPosition.GetUTMCoordinate().dEasting,
                           m_stLastGeolocatedPosition.GetUTMCoordinate().dNorthing,
                           m_dHeadingSetPoint);
                m_bAlreadyPrintedVisualLostFallback = true;
            }
        }
        // Fallback 2: Coast along last known heading.
        else if (m_bHasSeenTarget)
        {
            if (!m_bAlreadyPrintedVisualLostFallback)
            {
                LOG_NOTICE(logging::g_qSharedLogger,
                           "ApproachingObjectState: [FALLBACK 2] Visual lost & no geolocation history. Coasting along last known heading. Target Bearing: {:.2f} degrees",
                           m_dHeadingSetPoint);
                m_bAlreadyPrintedVisualLostFallback = true;
            }
        }
        // Wait in place: We have never seen the object.
        else
        {
            globals::g_pDriveBoard->SendStop();
            return;
        }
 
        // 5. Execute drive command based on the best available information and run stuck detection.
        diffdrive::DrivePowers stDrivePowers = globals::g_pDriveBoard->CalculateMove(constants::APPROACH_OBJECT_MOTOR_POWER,
                                                                                     m_dHeadingSetPoint,
                                                                                     stCurrentRoverPose.GetCompassHeading(),
                                                                                     diffdrive::DifferentialControlMethod::eArcadeDrive,
                                                                                     m_bDriveBackwards,    // Reverse control flag.
                                                                                     false,
                                                                                     false,
                                                                                     false);
        globals::g_pDriveBoard->SendDrive(stDrivePowers);
 
        // Check if the rover is stuck.
        if (constants::APPROACH_OBJECT_ENABLE_STUCK_DETECT &&
            m_StuckDetector.CheckIfStuck(globals::g_pStateMachineHandler->SmartRetrieveVelocity(),
                                         globals::g_pStateMachineHandler->SmartRetrieveAngularVelocity(),
                                         constants::APPROACH_OBJECT_STUCK_CHECK_VEL_THRESH * globals::g_pDriveBoard->GetMaxDriveEffort(),
                                         constants::APPROACH_OBJECT_STUCK_CHECK_ROT_THRESH))
        {
            LOG_WARNING(logging::g_qSharedLogger,
                        "ApproachingObjectState: Rover has become stuck! Triggering Stuck event. Curr Vel: {:.2f}, Ang Vel: {:.2f}",
                        globals::g_pStateMachineHandler->SmartRetrieveVelocity(),
                        globals::g_pStateMachineHandler->SmartRetrieveAngularVelocity());
            globals::g_pStateMachineHandler->HandleEvent(Event::eStuck, true);
            return;
        }
    }

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TriggerEvent()

States statemachine::ApproachingObjectState::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

Sam Hajdukiewicz (saman.nosp@m.thah.nosp@m.ajduk.nosp@m.iewi.nosp@m.cz@gm.nosp@m.ail..nosp@m.com)

Date

2024-01-17

Implements statemachine::State.

    {
        // Create instance variables.
        States eNextState       = States::eApproachingObject;
        bool bCompleteStateExit = true;
 
        switch (eEvent)
        {
            case Event::eReachedObject:
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "ApproachingObjectState: Handling ReachedObject event.");
 
                if (constants::APPROACH_OBJECT_VERIFY_POSITION)
                {
                    eNextState = States::eVerifyingObject;
                }
                else
                {
                    globals::g_pMultimediaBoard->SendLightingState(MultimediaBoard::MultimediaBoardLightingState::eReachedGoal);
                    globals::g_pWaypointHandler->PopNextWaypoint();
                    globals::g_pStateMachineHandler->ClearSavedStates();
                    LOG_NOTICE(logging::g_qSharedLogger, "ApproachingObjectState: Cleared old search pattern state and approaching object state from saved states.");
                    eNextState = States::eIdle;
                }
                break;
            }
            case Event::eStart:
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "ApproachingObjectState: Handling Start event.");
                globals::g_pMultimediaBoard->SendLightingState(MultimediaBoard::MultimediaBoardLightingState::eAutonomy);
                break;
            }
            case Event::eObjectUnseen:
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "ApproachingObjectState: Handling ObjectUnseen event.");
                // Change states.
                eNextState = m_eTriggeringState;
                break;
            }
            case Event::eStuck:
            {
                LOG_INFO(logging::g_qSharedLogger, "NavigatingState: Handling Stuck event.");
                eNextState = States::eStuck;
                break;
            }
            case Event::eAbort:
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "ApproachingObjectState: 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, "ApproachingObjectState: Handling unknown event ({}), defaulting to Idle.", static_cast<int>(eEvent));
                eNextState = States::eIdle;
                break;
            }
        }
 
        if (eNextState != States::eApproachingMarker)
        {
            LOG_INFO(logging::g_qSharedLogger, "ApproachingObjectState: 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/ApproachingObjectState.h
• src/states/ApproachingObjectState.cpp