LocalizationTransitionTable.hpp

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/*
 * Copyright (C) 2022 LEIDOS.
 *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */
 
#pragma once
 
#include "LocalizationTypes.hpp"
 
namespace localization_manager
{
    class LocalizationTransitionTable
    {
    public:
        using TransitionCallback =
            std::function<void(LocalizationState prev_state, LocalizationState new_state, LocalizationSignal signal)>;
 
        LocalizationTransitionTable(LocalizerMode mode);
 
        LocalizationState getState() const;
 
        void signal(LocalizationSignal signal);
 
        void setTransitionCallback(TransitionCallback cb);
 
    private:
        LocalizationState state_ = LocalizationState::UNINITIALIZED;
 
        LocalizerMode mode_ = LocalizerMode::AUTO_WITHOUT_TIMEOUT;
 
        TransitionCallback transition_callback_;
 
        // Helper functions for processing each the provided signal based on the current state
        void signalWhenUNINITIALIZED(LocalizationSignal signal);
        void signalWhenINITIALIZING(LocalizationSignal signal);
        void signalWhenOPERATIONAL(LocalizationSignal signal);
        void signalWhenDEGRADED(LocalizationSignal signal);
        void signalWhenDEGRADED_NO_LIDAR_FIX(LocalizationSignal signal);
        void signalWhenAWAIT_MANUAL_INITIALIZATION(LocalizationSignal signal);
 
        void logDebugSignal(LocalizationSignal signal) const;
 
        void setAndLogState(LocalizationState new_state, LocalizationSignal source_signal);
    };
} // namespace localization_manager