statemachine::VerifyingMarkerState Class Reference

The VerifyingMarkerState class implements the Verifying Marker state for the Autonomy State Machine. More...

#include <VerifyingMarkerState.h>

Inheritance diagram for statemachine::VerifyingMarkerState:

Collaboration diagram for statemachine::VerifyingMarkerState:

Public Member Functions
	VerifyingMarkerState ()
	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_bInitialized
geoops::Waypoint	m_stGoalWaypoint
tagdetectutils::ArucoTag	m_stBestArucoTag
tagdetectutils::ArucoTag	m_stBestTorchTag
std::vector< std::shared_ptr< TagDetector > >	m_vTagDetectors
std::chrono::system_clock::time_point	m_tmTagVerificationStartTime
std::chrono::system_clock::time_point	m_tmTagLastSeenTime

Detailed Description

The VerifyingMarkerState class implements the Verifying Marker 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

VerifyingMarkerState()

statemachine::VerifyingMarkerState::VerifyingMarkerState

(

)

Construct a new State object.

Author

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

Date

2024-01-17

                                               : State(States::eVerifyingMarker)
    {
        LOG_INFO(logging::g_qConsoleLogger, "Entering State: {}", ToString());
 
        m_bInitialized = false;
 
        if (!m_bInitialized)
        {
            Start();
            m_bInitialized = true;
        }
    }

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Member Function Documentation

Start()

void statemachine::VerifyingMarkerState::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, "VerifyingMarkerState: Scheduling next run of state logic.");
 
        // Initialize member variables.
        m_stGoalWaypoint             = globals::g_pWaypointHandler->PeekNextWaypoint();
        m_tmTagVerificationStartTime = std::chrono::system_clock::now();
        m_tmTagLastSeenTime          = std::chrono::system_clock::now();
 
        // Get tag detectors.
        m_vTagDetectors = {globals::g_pTagDetectionHandler->GetTagDetector(TagDetectionHandler::TagDetectors::eHeadMainCam),
                           globals::g_pTagDetectionHandler->GetTagDetector(TagDetectionHandler::TagDetectors::eRearCam)};
    }

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Exit()

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

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Run()

void statemachine::VerifyingMarkerState::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, "VerifyingMarkerState: Running state-specific behavior.");
 
        // Identify target marker.
        tagdetectutils::ArucoTag stBestArucoTag, stBestTorchTag;
        statemachine::IdentifyTargetMarker(m_vTagDetectors, stBestArucoTag, stBestTorchTag, m_stGoalWaypoint.nID);
 
        // Calculate how long we've been in this state.
        std::chrono::system_clock::time_point tmCurrentTime = std::chrono::system_clock::now();
        double dElapsedTime = std::chrono::duration_cast<std::chrono::milliseconds>(tmCurrentTime - m_tmTagVerificationStartTime).count() / 1000.0;
        // Calculate the time since the last time we saw a tag.
        double dTimeSinceLastSeen = std::chrono::duration_cast<std::chrono::milliseconds>(tmCurrentTime - m_tmTagLastSeenTime).count() / 1000.0;
 
        /*
            If we consistently detect a marker for a certain amount of time, we can assume that we are in fact in front of the marker.
            At this point, we can also assume we are close enough for the pointcloud to be usable and for aruco to pick up the tag.
        */
        // Check if ArUco tag is detected.
        if (stBestArucoTag.nID == -1 && stBestTorchTag.dConfidence == 0.0)
        {
            // Check if the time last seen is greater than the time to give up.
            if (dTimeSinceLastSeen > constants::APPROACH_MARKER_TAG_LOST_BUFFER_TIME)
            {
                // No tags are detected, trigger verify failed event.
                LOG_INFO(logging::g_qSharedLogger, "VerifyingMarkerState: No tags detected. Triggering verify failed event.");
                globals::g_pStateMachineHandler->HandleEvent(Event::eVerifyingFailed);
                return;
            }
        }
        else
        {
            // Check the tags distance.
            if (stBestArucoTag.nID != -1 && stBestArucoTag.dStraightLineDistance > constants::APPROACH_MARKER_PROXIMITY_THRESHOLD)
            {
                // Tag is too far away, trigger verify failed event.
                LOG_INFO(logging::g_qSharedLogger, "VerifyingMarkerState: ArUco tag detected but too far away. Triggering verify failed event.");
                globals::g_pStateMachineHandler->HandleEvent(Event::eVerifyingFailed);
                return;
            }
            else if (stBestTorchTag.dConfidence > 0.0 && stBestTorchTag.dStraightLineDistance > constants::APPROACH_MARKER_PROXIMITY_THRESHOLD)
            {
                // Tag is too far away, trigger verify failed event.
                LOG_INFO(logging::g_qSharedLogger, "VerifyingMarkerState: Torch tag detected but too far away. Triggering verify failed event.");
                globals::g_pStateMachineHandler->HandleEvent(Event::eVerifyingFailed);
                return;
            }
 
            // Update time last seen.
            m_tmTagLastSeenTime = std::chrono::system_clock::now();
 
            // Update best tags.
            m_stBestArucoTag = stBestArucoTag;
            m_stBestTorchTag = stBestTorchTag;
 
            // Check if we have been in this state long enough to verify the marker.
            if (dElapsedTime >= constants::APPROACH_MARKER_VERIFY_TIME)
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "VerifyingMarkerState: Marker verified. Triggering verify complete event.");
                // Trigger verify complete event.
                globals::g_pStateMachineHandler->HandleEvent(Event::eVerifyingComplete);
                return;
            }
        }
    }

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TriggerEvent()

States statemachine::VerifyingMarkerState::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::eVerifyingMarker;
        bool bCompleteStateExit = true;
 
        switch (eEvent)
        {
            case Event::eStart:
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "VerifyingMarkerState: Handling Start event.");
                // Send multimedia command to update state display.
                globals::g_pMultimediaBoard->SendLightingState(MultimediaBoard::MultimediaBoardLightingState::eAutonomy);
                break;
            }
            case Event::eVerifyingComplete:
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "VerifyingMarkerState: Handling Verifying Complete event.");
                // Send multimedia command to update state display.
                globals::g_pMultimediaBoard->SendLightingState(MultimediaBoard::MultimediaBoardLightingState::eReachedGoal);
 
                // Loop through the detectors vector and find which ones UUID matches the winning tag's UUID.
                // If a match is found, request the snapshot from that detector and save it to disk with a unique filename.
                cv::Mat cvSnapshot;
                for (const std::shared_ptr<TagDetector>& pTagDetector : m_vTagDetectors)
                {
                    if (pTagDetector->GetThreadUUID() == m_stBestArucoTag.szDetectorUUID || pTagDetector->GetThreadUUID() == m_stBestTorchTag.szDetectorUUID)
                    {
                        std::future<bool> fuFrame = pTagDetector->RequestLastGoodOverlayFrame(cvSnapshot);
                        if (!fuFrame.get())
                        {
                            LOG_WARNING(logging::g_qSharedLogger, "VerifyingMarkerState: Failed to request detection overlay frame.");
                        }
                        break;
                    }
                }
 
                // Make sure the snapshot is not empty before trying to save it.
                if (!cvSnapshot.empty())
                {
                    // Ensure the directory exists
                    std::string szLogDir = logging::g_szLoggingOutputPath + "/detections/";
                    if (!std::filesystem::exists(szLogDir))
                    {
                        std::filesystem::create_directories(szLogDir);
                    }
 
                    // Create a unique filename using the current timestamp
                    std::string szTimestamp = timeops::GetTimestamp();
                    std::string szFilename  = szLogDir + "marker_" + szTimestamp + ".png";
 
                    // Save the image to the disk
                    bool bSuccess = cv::imwrite(szFilename, cvSnapshot);
 
                    if (bSuccess)
                    {
                        LOG_NOTICE(logging::g_qSharedLogger, "VerifyingMarkerState: Saved detection snapshot to {}", szFilename);
                    }
                    else
                    {
                        LOG_ERROR(logging::g_qSharedLogger, "VerifyingMarkerState: Failed to write snapshot to disk.");
                    }
                }
                else
                {
                    LOG_WARNING(logging::g_qSharedLogger, "VerifyingMarkerState: Overlay frame was empty. No snapshot taken.");
                }
 
                // Pop old waypoint out of queue.
                globals::g_pWaypointHandler->PopNextWaypoint();
                // Clear saved states.
                globals::g_pStateMachineHandler->ClearSavedStates();
                // Submit logger message.
                LOG_NOTICE(logging::g_qSharedLogger, "VerifyingMarkerState: Cleared old saved states.");
                // Change state.
                eNextState = States::eIdle;
                break;
            }
            case Event::eVerifyingFailed:
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "VerifyingMarkerState: Handling Verifying Failed event.");
                // Send multimedia command to update state display.
                globals::g_pMultimediaBoard->SendLightingState(MultimediaBoard::MultimediaBoardLightingState::eAutonomy);
                // Recall the previous state.
                eNextState = globals::g_pStateMachineHandler->GetPreviousState();
                break;
            }
            case Event::eAbort:
            {
                // Submit logger message.
                LOG_INFO(logging::g_qSharedLogger, "VerifyingMarkerState: 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, "VerifyingMarkerState: Handling unknown event.");
                eNextState = States::eIdle;
                break;
            }
        }
 
        if (eNextState != States::eVerifyingMarker)
        {
            LOG_INFO(logging::g_qSharedLogger, "VerifyingMarkerState: 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/VerifyingMarkerState.h
• src/states/VerifyingMarkerState.cpp