DecisionStateMachine.hpp

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#pragma once
 
#ifndef DECISION_STATE_MACHINE_HPP
#define DECISION_STATE_MACHINE_HPP
 
#include <rclcpp/rclcpp.hpp>
 
#include <cstdint>
#include <utility>
#include <atomic>
#include <mutex>
#include "Decision.hpp"
 
class Decision {
    private:
    std::atomic<bool> m_startDriving;
    std::mutex m_mtx;
 
    DrivingState m_state;
 
    // SETTINGS
    float m_velocityReference = 1.5f;
    float m_velocityAtParkingZone = 1.0f;
    float m_distanceAfterSwitchBackToLaneMeter = 1.f;
    int m_criticalObstacleDistanceForLaneChangingCM = 120;
    public:
    int m_parkingTries = 0;
 
    private:
    rclcpp::Node* m_nodePtr = nullptr;
 
    public:
    bool m_stopAtStartLine = false;
 
    public:
    Decision(rclcpp::Node* nodePtr);
    void set_velocity_reference(float velocityReference);
    void set_velocity_reference_parking(float velocityReference);
    void set_distance_after_switch_back_lane(float valueM);
    void set_critical_obstacle_distance_for_lane_changing(int valueCM);
    // void set_default_driving_lane(bool value);
    void start_driving();
 
    void update(std::shared_ptr<PositionTimepoint> positionTimepoint,   std::tuple<float, float, float, float> laneBlocked);
    void update_tof(float right, float rear);
    void update_stopline(float value);
    void update_starttargetline(float value);
    void set_parking_state(ParkingState state);
 
    // car state getter
    bool get_indicator_left() const;
    bool get_indicator_right() const;
    bool get_chosen_lane() const;
    float get_velocity_reference() const;
    bool get_brakes_enable() const;
    SituationState get_current_situationstate();
 
    private:
    void update_lanes(DrivingState& newState, bool leftLaneBlocked, bool rightLaneBlocked);
    void set_indicators(DrivingState& newState);
    void switch_lane_if_possible(DrivingState& newState);
};
 
 
#endif // DECISION_STATE_MACHINE_HPP