Program Listing for File platform_state_machine.hpp

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/*!*******************************************************************************************
 *  \file       platform_state_machine.hpp
 *  \brief      Aerostack2 Platform State Machine Header file.
 *  \authors    Miguel Fernández Cortizas
 *              Pedro Arias Pérez
 *              David Pérez Saura
 *              Rafael Pérez Seguí
 ********************************************************************************/

#ifndef AS2_CORE__PLATFORM_STATE_MACHINE_HPP_
#define AS2_CORE__PLATFORM_STATE_MACHINE_HPP_

#include <functional>
#include <string>
#include <vector>
#include <memory>

#include "as2_core/node.hpp"
#include "as2_msgs/msg/platform_state_machine_event.hpp"
#include "as2_msgs/msg/platform_status.hpp"
#include "as2_msgs/srv/set_platform_state_machine_event.hpp"

namespace as2
{
using Event = as2_msgs::msg::PlatformStateMachineEvent;

struct StateMachineTransition
{
  std::string transition_name;
  int8_t from_state_id;
  int8_t transition_id;
  int8_t to_state_id;
};

class PlatformStateMachine
{
public:
  explicit PlatformStateMachine(as2::Node * node);
  ~PlatformStateMachine();

  bool processEvent(const int8_t & event);
  bool processEvent(const Event & event);

  StateMachineTransition getTransition(const int8_t & current_state, const int8_t & event);

  inline as2_msgs::msg::PlatformStatus getState() {return state_;}

  inline void setState(as2_msgs::msg::PlatformStatus state) {state_ = state;}
  inline void setState(const int8_t & state) {state_.state = state;}

private:
  std::vector<StateMachineTransition> transitions_;
  as2_msgs::msg::PlatformStatus state_;
  as2::Node * node_ptr_;

  void defineTransitions();

  rclcpp::Service<as2_msgs::srv::SetPlatformStateMachineEvent>::SharedPtr state_machine_event_srv_;

  void setStateMachineEventSrvCallback(
    const std::shared_ptr<as2_msgs::srv::SetPlatformStateMachineEvent::Request> request,
    std::shared_ptr<as2_msgs::srv::SetPlatformStateMachineEvent::Response> response);

  std::string eventToString(int8_t event);

  std::string stateToString(int8_t state);
};

}  // namespace as2

#endif  // AS2_CORE__PLATFORM_STATE_MACHINE_HPP_