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