00001 /* -*- mode: C++ -*- 00002 * 00003 * Navigator road controller finite state machine 00004 * 00005 * Copyright (C) 2007, 2010, Austin Robot Technology 00006 * License: Modified BSD Software License Agreement 00007 * 00008 * $Id: road.h 1639 2011-08-11 23:39:23Z jack.oquin $ 00009 */ 00010 00011 #ifndef __ROAD_HH__ 00012 #define __ROAD_HH__ 00013 00014 #include <art_nav/NavRoadState.h> 00015 #include "NavRoadEvent.h" 00016 00017 //class Evade; 00018 class FollowLane; 00019 class FollowSafely; 00020 class Halt; 00021 class Passing; 00022 class NavTimer; 00023 //class RealZone; 00024 class Uturn; 00025 00026 class Road: public Controller 00027 { 00028 public: 00029 00030 Road(Navigator *navptr, int _verbose); 00031 ~Road(); 00032 result_t control(pilot_command_t &pcmd); 00033 void reset(void); 00034 00035 NavRoadState State(void) 00036 { 00037 return state; 00038 } 00039 00040 private: 00041 00042 bool passing_first; 00043 00044 // state transition action method pointer 00045 typedef result_t (Road::*action_t)(pilot_command_t &pcmd); 00046 00047 // state transition table entry 00048 typedef struct 00049 { 00050 NavRoadState next; 00051 action_t action; 00052 } transtion_t; 00053 00054 NavRoadState prev; 00055 NavRoadState state; 00056 NavRoadEvent event; // current event 00057 NavRoadEvent pending_event; 00058 Observation::_oid_type crossing_observer; 00059 Course::direction_t lane_direction; 00060 transtion_t ttable[NavRoadEvent::N_events][NavRoadState::N_states]; 00061 00062 // ActionInWaitStop() state: 00063 int32_t prev_nobjects; // previous number of cars 00064 00065 // subordinate controllers 00066 //Evade *evade; 00067 FollowLane *follow_lane; 00068 FollowSafely *follow_safely; 00069 Halt *halt; 00070 Passing *passing; 00071 Uturn *uturn; 00072 //RealZone *zone; 00073 00074 // timers 00075 NavTimer *passing_timer; 00076 NavTimer *precedence_timer; 00077 NavTimer *roadblock_timer; 00078 NavTimer *stop_line_timer; 00079 00080 // add a transition to the table 00081 void Add(NavRoadEvent::event_t event, action_t action, 00082 NavRoadState::state_t from_state, NavRoadState::state_t to_state); 00083 00084 // private methods 00085 void cancel_all_timers(void); 00086 void reset_me(void); 00087 void set_waypt_event(void); 00088 00090 // state transition action methods 00092 00093 result_t ActionError(pilot_command_t &pcmd); 00094 result_t ActionFail(pilot_command_t &pcmd); 00095 00096 // steady state actions 00097 00098 result_t ActionInBlock(pilot_command_t &pcmd); 00099 result_t ActionInEvade(pilot_command_t &pcmd); 00100 result_t ActionInFollow(pilot_command_t &pcmd); 00101 result_t ActionInInit(pilot_command_t &pcmd); 00102 result_t ActionInPass(pilot_command_t &pcmd); 00103 result_t ActionInUturn(pilot_command_t &pcmd); 00104 result_t ActionInWaitCross(pilot_command_t &pcmd); 00105 result_t ActionInWaitLane(pilot_command_t &pcmd); 00106 result_t ActionInWaitPass(pilot_command_t &pcmd); 00107 result_t ActionInWaitStop(pilot_command_t &pcmd); 00108 result_t ActionInZone(pilot_command_t &pcmd); 00109 00110 // state entry actions 00111 00112 result_t ActionEvadeToFollow(pilot_command_t &pcmd); 00113 result_t ActionPassToBlock(pilot_command_t &pcmd); 00114 result_t ActionPassToEvade(pilot_command_t &pcmd); 00115 result_t ActionPassToFollow(pilot_command_t &pcmd); 00116 result_t ActionToBlock(pilot_command_t &pcmd); 00117 result_t ActionToEvade(pilot_command_t &pcmd); 00118 result_t ActionToFollow(pilot_command_t &pcmd); 00119 result_t ActionToPass(pilot_command_t &pcmd); 00120 result_t ActionToUturn(pilot_command_t &pcmd); 00121 result_t ActionToWaitCross(pilot_command_t &pcmd); 00122 result_t ActionToWaitLane(pilot_command_t &pcmd); 00123 result_t ActionToWaitPass(pilot_command_t &pcmd); 00124 result_t ActionToWaitStop(pilot_command_t &pcmd); 00125 result_t ActionToZone(pilot_command_t &pcmd); 00126 result_t ActionWaitPassToFollow(pilot_command_t &pcmd); 00127 result_t ActionZoneToWaitCross(pilot_command_t &pcmd); 00128 }; 00129 00130 #endif // __ROAD_HH__