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state_machine/state_base.h

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+/**
+ * @file state_base.h
+ * @brief state base class for robot state control
+ * @author DeepRobotics
+ * @version 1.0
+ * @date 2025-11-07
+ * 
+ * @copyright Copyright (c) 2025  DeepRobotics
+ * 
+ */
+#pragma once
+
+#include "common_types.h"
+#include "custom_types.h"
+#include "robot_interface.h"
+#include "user_command_interface.h"
+#include "motion_state_feedback.hpp"
+#include "basic_function.hpp"
+#include "parameters/control_parameters.h"
+
+using namespace types;
+using namespace interface;
+
+
+struct ControllerData{
+    std::shared_ptr<RobotInterface> ri_ptr;
+    std::shared_ptr<UserCommandInterface> uc_ptr;
+    std::shared_ptr<ControlParameters> cp_ptr;
+};
+
+
+class StateBase{
+private:
+
+public:
+    StateBase(const RobotName& robot_name, const std::string& state_name, 
+        std::shared_ptr<ControllerData> data_ptr):
+        robot_name_(robot_name),
+        state_name_(state_name),
+        data_ptr_(data_ptr){
+            ri_ptr_ = data_ptr_->ri_ptr;
+            uc_ptr_ = data_ptr_->uc_ptr;
+            cp_ptr_ = data_ptr_->cp_ptr;
+            std::memset(&msfb_, 0, sizeof(msfb_));
+        }
+
+    ~StateBase(){}
+
+    /**
+     * @brief execute function when enter state
+     */
+    virtual void OnEnter() = 0;
+
+    /**
+     * @brief execute function when exit state
+     */
+    virtual void OnExit() = 0;
+
+    /**
+     * @brief run this function when in this state
+     */
+    virtual void Run() = 0;
+
+    /**
+     * @brief lose control judgement in every time stamp
+     * @return true     robot is losing control and going to switch state
+     * @return false    robot is in normal state
+     */
+    virtual bool LoseControlJudge() = 0;
+
+    /**
+     * @brief get the next state name if you want to switch state
+     * @return StateName    next state name
+     */
+    virtual StateName GetNextStateName() = 0;
+
+    /**
+     * @brief state name for print 
+     */
+    std::string state_name_;
+
+    /**
+     * @brief robot_name for print
+     */
+    RobotName robot_name_;
+
+    std::shared_ptr<ControllerData> data_ptr_;      //control data pointer 
+    std::shared_ptr<RobotInterface> ri_ptr_;        //robot interface pointer to control your robot
+    std::shared_ptr<UserCommandInterface> uc_ptr_;  //control your robot by design user command
+    std::shared_ptr<ControlParameters> cp_ptr_;     //control parameters
+
+    static MotionStateFeedback msfb_;               //robot current motion state
+};
+