approaching_emergency_vehicle_transition_table.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 "approaching_emergency_vehicle_states.hpp"
#include <rclcpp/rclcpp.hpp>
#include <functional>
 
namespace approaching_emergency_vehicle_plugin
{
    class ApproachingEmergencyVehicleTransitionTable
    {
    public:
        using TransitionCallback =
            std::function<void(ApproachingEmergencyVehicleState prev_state, ApproachingEmergencyVehicleState new_state, ApproachingEmergencyVehicleEvent event)>;
 
        ApproachingEmergencyVehicleTransitionTable() = default;
 
        ApproachingEmergencyVehicleState getState() const;
 
        void event(ApproachingEmergencyVehicleEvent event);
 
        void setTransitionCallback(TransitionCallback cb);
 
    private:
        ApproachingEmergencyVehicleState state_ = ApproachingEmergencyVehicleState::NO_APPROACHING_ERV;
 
        TransitionCallback transition_callback_;
 
        // Helper functions for processing each the provided events based on the current state
        void eventWhenNO_APPROACHING_ERV(ApproachingEmergencyVehicleEvent event);
        void eventWhenMOVING_OVER_FOR_APPROACHING_ERV(ApproachingEmergencyVehicleEvent event);
        void eventWhenSLOWING_DOWN_FOR_ERV(ApproachingEmergencyVehicleEvent event);
 
        void logDebugEvent(ApproachingEmergencyVehicleEvent event) const;
 
        void setAndLogState(ApproachingEmergencyVehicleState new_state, ApproachingEmergencyVehicleEvent source_event);
    };
} // namespace approaching_emergency_vehicle_plugin