Decision.hpp

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#pragma once
 
#ifndef DECISION_HPP
#define DECISION_HPP
 
#include <rclcpp/rclcpp.hpp>
 
#include "Localization/Localizer.hpp"
 
enum SituationState {
  WaitForStart = 0,
  NormalDrive = 1,
  ObstacleEvasion = 2,
  Intersection = 3,
  ParkingZone = 4,
  Parking = 5 // parking node drives
};
 
enum ParkingState {
  Off,
  Idle,
  Searching,
  InParking,
  Done
};
 
struct DrivingState {
  uint64_t timestamp; // nanosec
  SituationState situationState;
  uint64_t timeInSituationState;
  
  float velocity;
  float velocityOfWheelFeedback;
 
  bool drivingLane;
  uint64_t timeLeftLaneBlocked;
  uint64_t timeRightLaneBlocked;
 
  bool indicatorLeft = false;
  bool indicatorRight = false;
  uint64_t timeIndicatorSet;
 
  float stopLineDistance = -1.f;
  uint64_t timeStopLineDetected;
  uint64_t intersectionLastExitTime = 0;
 
  float startTargetDistance = -1.f;
  uint64_t timeStartTargetLineDetected = 0;
  ParkingState parkingState = ParkingState::Off;
  uint64_t timeLastParkingDone = 0;
  
  // ToF Information
  float tofRightValue = -1.f;
  float tofRearValue = -1.f;
};
 
#endif