statemachine::NavigatingState Class Reference

The NavigatingState class implements the Navigating state for the Autonomy State Machine. More...

#include <NavigatingState.h>

Inheritance diagram for statemachine::NavigatingState:

Collaboration diagram for statemachine::NavigatingState:

Public Member Functions
	NavigatingState ()
	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
bool	m_bWasStuck
bool	m_bWithinWaypointRadius
bool	m_bFetchNewWaypoint
geoops::Waypoint	m_stGoalWaypoint
bool	m_bInitialized
std::vector< std::shared_ptr< TagDetector > >	m_vTagDetectors
std::vector< std::shared_ptr< ObjectDetector > >	m_vObjectDetectors
statemachine::TimeIntervalBasedStuckDetector	m_StuckDetector
std::unique_ptr< controllers::PredictiveStanleyController >	m_pStanleyController
std::vector< geoops::Waypoint >	m_vPathCoordinates

Detailed Description

The NavigatingState class implements the Navigating state for the Autonomy State Machine.

Author

Eli Byrd (edbgk.nosp@m.k@ms.nosp@m.t.edu)

Date

2024-01-17

Constructor & Destructor Documentation

NavigatingState()

statemachine::NavigatingState::NavigatingState

(

)

Construct a new State object.

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

                                     : State(States::eNavigating)
    {
        // Submit logger message.
        LOG_INFO(logging::g_qConsoleLogger, "Entering State: {}", ToString());
 
        // Initialize member variables.
        m_bInitialized       = false;
        m_StuckDetector      = statemachine::TimeIntervalBasedStuckDetector(constants::NAVIGATING_STUCK_CHECK_ATTEMPTS, constants::NAVIGATING_STUCK_CHECK_INTERVAL);
        m_pStanleyController = std::make_unique<controllers::PredictiveStanleyController>(constants::STANLEY_CROSSTRACK_CONTROL_GAIN,
                                                                                          constants::STANLEY_ANGULAR_VELOCITY_LIMIT,
                                                                                          constants::STANLEY_PREDICTION_HORIZON,
                                                                                          constants::STANLEY_PREDICTION_TIME_STEP);
 
        // Start state.
        if (!m_bInitialized)
        {
            Start();
            m_bInitialized = true;
        }
    }

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Member Function Documentation

Start()

void statemachine::NavigatingState::Start ( )

overrideprotectedvirtual

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

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

Reimplemented from statemachine::State.

    {
        // Schedule the next run of the state's logic
        LOG_INFO(logging::g_qSharedLogger, "NavigatingState: Scheduling next run of state logic.");
 
        // Initialize member variables.
        m_bWasStuck             = false;
        m_bWithinWaypointRadius = false;
        m_bFetchNewWaypoint     = true;
        m_vTagDetectors         = {globals::g_pTagDetectionHandler->GetTagDetector(TagDetectionHandler::TagDetectors::eHeadMainCam),
                                   globals::g_pTagDetectionHandler->GetTagDetector(TagDetectionHandler::TagDetectors::eRearCam)};
        m_vObjectDetectors      = {globals::g_pObjectDetectionHandler->GetObjectDetector(ObjectDetectionHandler::ObjectDetectors::eHeadMainCam),
                                   globals::g_pObjectDetectionHandler->GetObjectDetector(ObjectDetectionHandler::ObjectDetectors::eRearCam)};
    }

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Exit()

void statemachine::NavigatingState::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, "NavigatingState: Exiting state.");
    }

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Run()

void statemachine::NavigatingState::Run ( )

overridevirtual

Run the state machine. Returns the next state.

Author

Eli Byrd (edbgk.nosp@m.k@ms.nosp@m.t.edu)

Date

2024-01-17

Implements statemachine::State.

    {
        // Submit logger message.
        LOG_DEBUG(logging::g_qSharedLogger, "NavigatingState: Running state-specific behavior.");
 
        // If navigating was previously stuck, then re-path plan stuck area
        if (m_bWasStuck)
        {
            // Retrieve modified path from stuck
            m_vPathCoordinates = globals::g_pWaypointHandler->RetrievePath("unstuckPath");
 
            // Update visualizer and stanley
            globals::g_pWaypointHandler->StorePath("GeoPlannerPath", m_vPathCoordinates);
            m_pStanleyController->SetReferencePath(m_vPathCoordinates);
 
            m_bWasStuck = false;
        }
 
        // Check if we should get a new goal waypoint and that the waypoint handler has one for us.
        if (m_bFetchNewWaypoint && globals::g_pWaypointHandler->GetWaypointCount() > 0)
        {
            // Trigger new waypoint event.
            globals::g_pStateMachineHandler->HandleEvent(Event::eNewWaypoint);
            return;
        }
 
        // Get Current rover pose.
        geoops::RoverPose stCurrentRoverPose = globals::g_pStateMachineHandler->SmartRetrieveRoverPose();
 
        // Calculate distance and bearing from goal waypoint.
        geoops::GeoMeasurement stGoalWaypointMeasurement = geoops::CalculateGeoMeasurement(stCurrentRoverPose.GetUTMCoordinate(), m_stGoalWaypoint.GetUTMCoordinate());
 
        // Only print out every so often.
        static bool bAlreadyPrinted = false;
        if ((std::chrono::duration_cast<std::chrono::seconds>(std::chrono::system_clock::now().time_since_epoch()).count() % 5) == 0 && !bAlreadyPrinted)
        {
            // Assemble the error metrics into a single string. We are going to include the distance and bearing to the goal waypoint and
            // the error between the rover pose and the GPS position. The rover pose could be from VIO or GNSS fusion, or just GPS.
            std::string szErrorMetrics =
                "--------[ Navigating Error Report ]--------\nDistance to Goal Waypoint: " + std::to_string(stGoalWaypointMeasurement.dDistanceMeters) + " meters\n" +
                "Bearing to Goal Waypoint: " + std::to_string(stGoalWaypointMeasurement.dStartRelativeBearing) + " degrees\n";
            // Submit the error metrics to the logger.
            LOG_INFO(logging::g_qSharedLogger, "{}", szErrorMetrics);
 
            // Set toggle.
            bAlreadyPrinted = true;
        }
        else if ((std::chrono::duration_cast<std::chrono::seconds>(std::chrono::system_clock::now().time_since_epoch()).count() % 5) != 0 && bAlreadyPrinted)
        {
            // Reset toggle.
            bAlreadyPrinted = false;
        }
 
        /*
            The overall flow of this state is as follows.
            1. Is there a tag -> MarkerSeen
            2. Is there an object -> ObjectSeen
            3. Is there an obstacle -> TBD
            4. Navigate to goal waypoint.
            5. Is the rover stuck -> Stuck
        */
 
        /* --- Detect Tags --- */
 
        // In order to even care about any tags we see, the goal waypoint needs to be of type MARKER and we need to be within the search radius of the MARKER waypoint.
        if (m_stGoalWaypoint.eType == geoops::WaypointType::eTagWaypoint && stGoalWaypointMeasurement.dDistanceMeters <= m_stGoalWaypoint.dRadius)
        {
            // Create instance variables.
            tagdetectutils::ArucoTag stBestArucoTag, stBestTorchTag;
            // Identify target marker.
            statemachine::IdentifyTargetMarker(m_vTagDetectors, stBestArucoTag, stBestTorchTag, m_stGoalWaypoint.nID);
            // Check if either tag type is seen.
            if (stBestArucoTag.nID != -1 || stBestTorchTag.dConfidence != 0.0)
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "NavigatingState: Rover has seen a target marker!");
                // Handle state transition and save the current search pattern state.
                globals::g_pStateMachineHandler->HandleEvent(Event::eMarkerSeen, true);
                // Don't execute the rest of the state.
                return;
            }
        }
 
        /* --- Detect Objects --- */
 
        // In order to even care about any objects we see, the goal waypoint needs to be of an object type and we need to be within the search radius of the object
        // waypoint.
        if ((m_stGoalWaypoint.eType == geoops::WaypointType::eObjectWaypoint || m_stGoalWaypoint.eType == geoops::WaypointType::eMalletWaypoint ||
             m_stGoalWaypoint.eType == geoops::WaypointType::eWaterBottleWaypoint || m_stGoalWaypoint.eType == geoops::WaypointType::eRockPickWaypoint) &&
            stGoalWaypointMeasurement.dDistanceMeters <= m_stGoalWaypoint.dRadius)
        {
            // Create instance variables.
            objectdetectutils::Object stBestTorchObject;
            // Identify target object.
            statemachine::IdentifyTargetObject(m_vObjectDetectors, stBestTorchObject, m_stGoalWaypoint.eType);
            // Check if either tag type is seen.
            if (stBestTorchObject.dConfidence != 0.0)
            {
                // Submit logger message.
                LOG_NOTICE(logging::g_qSharedLogger, "NavigatingState: Rover has seen a target object!");
 
                // Handle state transition and save the current search pattern state.
                globals::g_pStateMachineHandler->HandleEvent(Event::eObjectSeen, true);
                // Don't execute the rest of the state.
                return;
            }
        }
 
        /* --- Detect Obstacles --- */
 
        // TODO: Add obstacle detection to Navigating state
 
        /* --- Navigate to goal waypoint --- */
        // Check if we are at the goal waypoint.
        if (stGoalWaypointMeasurement.dDistanceMeters > constants::NAVIGATING_REACHED_GOAL_RADIUS)
        {
            // Default to normal navigating speed.
            double dNavigatingSpeed = constants::NAVIGATING_MOTOR_POWER;
 
            // Check if we are at least withing the radius of the goal waypoint. If we are, slow down to search pattern speeds.
            if (constants::NAVIGATING_SLOWDOWN_WITHIN_WAYPOINT_RADIUS && stGoalWaypointMeasurement.dDistanceMeters <= m_stGoalWaypoint.dRadius)
            {
                // Check if this is the first time entering the radius
                if (!m_bWithinWaypointRadius)
                {
                    LOG_NOTICE(logging::g_qSharedLogger,
                               "NavigatingState: Rover is now within waypoint radius of {}. Slowing down to search pattern speed...",
                               m_stGoalWaypoint.dRadius);
                    m_bWithinWaypointRadius = true;
                }
 
                // Update navigating power to match the search pattern power.
                dNavigatingSpeed = constants::SEARCH_MOTOR_POWER;
            }
 
            // Use stanley to calculate drive move/powers.
            controllers::PredictiveStanleyController::DriveVector stDriveVector = m_pStanleyController->Calculate(stCurrentRoverPose, dNavigatingSpeed);
            // Calculate move from goal heading and desired speed.
            diffdrive::DrivePowers stDriveSpeeds = globals::g_pDriveBoard->CalculateMove(stDriveVector.dVelocity,
                                                                                         stDriveVector.dThetaHeading,
                                                                                         stCurrentRoverPose.GetCompassHeading(),
                                                                                         diffdrive::DifferentialControlMethod::eArcadeDrive);
            // Send drive powers over RoveComm.
            globals::g_pDriveBoard->SendDrive(stDriveSpeeds);
        }
        else
        {
            // Stop drive.
            globals::g_pDriveBoard->SendStop();
 
            // Check waypoint type.
            switch (m_stGoalWaypoint.eType)
            {
                // Goal waypoint is navigation.
                case geoops::WaypointType::eNavigationWaypoint:
                {
                    // Continuously navigate to the next waypoint if our current waypoint ID is set to -99.
                    if (globals::g_pWaypointHandler->GetWaypointCount() > 1 &&
                        m_stGoalWaypoint.nID == static_cast<int>(manifest::Autonomy::AUTONOMYWAYPOINTTYPES::CONTINUOUSNAVIGATE))
                    {
                        // Submit logger message.
                        LOG_NOTICE(logging::g_qSharedLogger,
                                   "NavigatingState: The current waypoint ID is signalling continuous navigation ({}). Continuing to next waypoint...",
                                   m_stGoalWaypoint.nID);
                        // Pop the next waypoint.
                        globals::g_pWaypointHandler->PopNextWaypoint();
                        // Trigger new waypoint event.
                        globals::g_pStateMachineHandler->HandleEvent(Event::eNewWaypoint, true);
                    }
                    else
                    {
                        // We are at the goal, signal event.
                        globals::g_pStateMachineHandler->HandleEvent(Event::eReachedGpsCoordinate, false);
                    }
                    return;
                }
                // Goal waypoint is marker.
                case geoops::WaypointType::eTagWaypoint:
                {
                    // We are at the goal, signal event.
                    globals::g_pStateMachineHandler->HandleEvent(Event::eReachedMarker, false);
                    return;
                }
                // Goal waypoint is object.
                case geoops::WaypointType::eObjectWaypoint:
                {
                    // We are at the goal, signal event.
                    globals::g_pStateMachineHandler->HandleEvent(Event::eReachedObject, false);
                    return;
                }
                // Goal waypoint is mallet.
                case geoops::WaypointType::eMalletWaypoint:
                {
                    // We are at the goal, signal event.
                    globals::g_pStateMachineHandler->HandleEvent(Event::eReachedObject, false);
                    return;
                }
                // Goal waypoint is water bottle.
                case geoops::WaypointType::eWaterBottleWaypoint:
                {
                    // We are at the goal, signal event.
                    globals::g_pStateMachineHandler->HandleEvent(Event::eReachedObject, false);
                    return;
                }
                // Goal waypoint is rock pick.
                case geoops::WaypointType::eRockPickWaypoint:
                {
                    // We are at the goal, signal event.
                    globals::g_pStateMachineHandler->HandleEvent(Event::eReachedObject, false);
                    return;
                }
                default:
                {
                    // This waypoint type is not supported.
                    LOG_ERROR(logging::g_qSharedLogger, "NavigatingState: Unknown waypoint type!");
                    // Handle event.
                    globals::g_pStateMachineHandler->HandleEvent(Event::eAbort, true);
                    // Don't execute the rest of the state.
                    return;
                }
            }
        }
 
        /* ---  Check if the rover is stuck --- */
 
        // Check if stuck.
        if (constants::NAVIGATING_ENABLE_STUCK_DETECT &&
            m_StuckDetector.CheckIfStuck(globals::g_pStateMachineHandler->SmartRetrieveVelocity() * globals::g_pDriveBoard->GetMaxDriveEffort(),
                                         globals::g_pStateMachineHandler->SmartRetrieveAngularVelocity(),
                                         constants::NAVIGATING_STUCK_CHECK_VEL_THRESH * globals::g_pDriveBoard->GetMaxDriveEffort(),
                                         constants::NAVIGATING_STUCK_CHECK_ROT_THRESH))
        {
            // Submit logger message.
            LOG_NOTICE(logging::g_qSharedLogger, "NavigatingState: Rover has become stuck!");
            // Save rover path for modification in stuck state
            globals::g_pWaypointHandler->StorePath("stuckPath", m_vPathCoordinates);
            m_bWasStuck = true;
            // Handle state transition and save the current search pattern state.
            globals::g_pStateMachineHandler->HandleEvent(Event::eStuck, true);
            // Don't execute the rest of the state.
            return;
        }
    }

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TriggerEvent()

States statemachine::NavigatingState::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

Eli Byrd (edbgk.nosp@m.k@ms.nosp@m.t.edu)

Date

2024-01-17

Implements statemachine::State.

    {
        // Create instance variables.
        States eNextState       = States::eNavigating;
        bool bCompleteStateExit = true;
 
        switch (eEvent)
        {
            case Event::eNoWaypoint:
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "NavigatingState: Handling No Waypoint event.");
                // Change state.
                eNextState = States::eIdle;
                break;
            }
            case Event::eReachedGpsCoordinate:
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "NavigatingState: Handling Reached GPS Coordinate event.");
                // Check constants to see if we should go into verifying position or just trigger reached marker.
                if (constants::NAVIGATING_VERIFY_POSITION)
                {
                    // Send multimedia command to update state display.
                    globals::g_pMultimediaBoard->SendLightingState(MultimediaBoard::MultimediaBoardLightingState::eAutonomy);
                    // Change state.
                    eNextState = States::eVerifyingPosition;
                }
                else
                {
                    // Send multimedia command to update state display.
                    globals::g_pMultimediaBoard->SendLightingState(MultimediaBoard::MultimediaBoardLightingState::eReachedGoal);
                    // Pop the next waypoint.
                    globals::g_pWaypointHandler->PopNextWaypoint();
                    // Change state.
                    eNextState = States::eIdle;
                }
                break;
            }
            case Event::eReachedMarker:
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "NavigatingState: Handling Reached Marker Waypoint event.");
                // Send multimedia command to update state display.
                globals::g_pMultimediaBoard->SendLightingState(MultimediaBoard::MultimediaBoardLightingState::eAutonomy);
                // Change state.
                eNextState = States::eSearchPattern;
                break;
            }
            case Event::eReachedObject:
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "NavigatingState: Handling Reached Object Waypoint event.");
                // Send multimedia command to update state display.
                globals::g_pMultimediaBoard->SendLightingState(MultimediaBoard::MultimediaBoardLightingState::eAutonomy);
                // Change state.
                eNextState = States::eSearchPattern;
                break;
            }
            case Event::eNewWaypoint:
            {
                // Check if the next goal waypoint equals the current one.
                if (m_stGoalWaypoint == globals::g_pWaypointHandler->PeekNextWaypoint())
                {
                    // Submit logger message.
                    LOG_INFO(logging::g_qSharedLogger, "NavigatingState: Reusing current Waypoint.");
                }
                else
                {
                    // Submit logger message.
                    LOG_INFO(logging::g_qSharedLogger, "NavigatingState: Handling New Waypoint event.");
 
                    // Reset radius toggle for the new waypoint
                    m_bWithinWaypointRadius = false;
 
                    // Get and store new goal waypoint.
                    m_stGoalWaypoint = globals::g_pWaypointHandler->PeekNextWaypoint();
                    // Plan a new path using the GeoPlanner.
                    m_vPathCoordinates = globals::g_pGeoPlanner->PlanPath(globals::g_pLiDARHandler,
                                                                          globals::g_pStateMachineHandler->SmartRetrieveRoverPose().GetUTMCoordinate(),
                                                                          m_stGoalWaypoint.GetUTMCoordinate());
                    // Add the path to the waypoint handler for reference by other states or handlers.
                    globals::g_pWaypointHandler->StorePath("GeoPlannerPath", m_vPathCoordinates);
                    // Set the path of the stanley controller.
                    m_pStanleyController->SetReferencePath(m_vPathCoordinates);
 
                    // Get all obstacles from the obstacle handler.
                    std::vector<geoops::Waypoint> vObstacles = globals::g_pWaypointHandler->GetAllObstacles();
 
                    // Check if the path is empty. If it is, go to idle state.
                    if (m_vPathCoordinates.empty())
                    {
                        LOG_WARNING(logging::g_qSharedLogger, "NavigatingState: Planned path is empty! Transitioning to Idle State.");
                        eNextState = States::eIdle;
                    }
                }
 
                // Send multimedia command to update state display.
                globals::g_pMultimediaBoard->SendLightingState(MultimediaBoard::MultimediaBoardLightingState::eAutonomy);
                // Set toggle.
                m_bFetchNewWaypoint = false;
                break;
            }
            case Event::eStart:
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "NavigatingState: Handling Start event.");
                // Send multimedia command to update state display.
                globals::g_pMultimediaBoard->SendLightingState(MultimediaBoard::MultimediaBoardLightingState::eAutonomy);
                break;
            }
            case Event::eAbort:
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "NavigatingState: Handling Abort event.");
                // Stop drive.
                globals::g_pDriveBoard->SendStop();
                // Send multimedia command to update state display.
                globals::g_pMultimediaBoard->SendLightingState(MultimediaBoard::MultimediaBoardLightingState::eOff);
                // Set toggle.
                m_bFetchNewWaypoint = true;
                // Change states.
                eNextState = States::eIdle;
                break;
            }
            case Event::eMarkerSeen:
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "NavigatingState: Handling MarkerSeen event.");
                // Change states.
                eNextState = States::eApproachingMarker;
                break;
            }
            case Event::eObjectSeen:
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "NavigatingState: Handling ObjectSeen event.");
                // Change states.
                eNextState = States::eApproachingObject;
                break;
            }
            case Event::eReverse:
            {
                LOG_INFO(logging::g_qSharedLogger, "NavigatingState: Handling Reverse event.");
                eNextState = States::eReversing;
                break;
            }
            case Event::eStuck:
            {
                LOG_INFO(logging::g_qSharedLogger, "NavigatingState: Handling Stuck event.");
                eNextState = States::eStuck;
                break;
            }
            default:
            {
                LOG_WARNING(logging::g_qSharedLogger, "NavigatingState: Handling unknown event.");
                eNextState = States::eIdle;
                break;
            }
        }
 
        if (eNextState != States::eNavigating)
        {
            LOG_INFO(logging::g_qSharedLogger, "NavigatingState: 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/NavigatingState.h
• src/states/NavigatingState.cpp