port_drayage_state_machine.hpp

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#pragma once
 
/*
 * Copyright (C) 2020-2022 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.
 */
 
#include <rclcpp/rclcpp.hpp>
#include <functional>
 
namespace port_drayage_plugin
{
    enum PortDrayageState
    {
        INACTIVE,
        EN_ROUTE_TO_INITIAL_DESTINATION,
        EN_ROUTE_TO_RECEIVED_DESTINATION,
        AWAITING_DIRECTION
    };
 
    enum PortDrayageEvent
    {
        DRAYAGE_START,
        RECEIVED_NEW_DESTINATION,
        ARRIVED_AT_DESTINATION,
        DRAYAGE_COMPLETED
    };
 
    class PortDrayageStateMachine
    {
        private:
            PortDrayageState state_;
            std::function<void()> on_system_startup_;
            std::function<void()> on_received_new_destination_;
            std::function<void()> on_arrived_at_destination_;
            std::function<void()> on_drayage_completed_;
 
            // Logger interface for this object
            rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logger_;
 
        public:
            PortDrayageStateMachine(rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logger) :
                logger_(logger),
                state_(PortDrayageState::INACTIVE) {};
        
            void processEvent(PortDrayageEvent event);
 
            PortDrayageState getState() const;
 
            void setOnSystemStartupCallback(const std::function<void()> &cb);
 
            void setOnReceivedNewDestinationCallback(const std::function<void()> &cb);
 
            void setOnArrivedAtDestinationCallback(const std::function<void()> &cb);
 
            void setOnDrayageCompletedCallback(const std::function<void()> &cb);
    };
} // namespace port_drayage_plugin