Program Listing for File state_tracker.hpp

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#pragma once

/*******************************************************************************
 * Includes
 ******************************************************************************/
#include "rcppsw/math/vector3.hpp"
#include "rcppsw/types/timestep.hpp"

#include "cosm/cosm.hpp"
#include "cosm/subsystem/subsystem_fwd.hpp"

/*******************************************************************************
 * Namespaces/Decls
 ******************************************************************************/
namespace cosm::fsm {

/*******************************************************************************
 * Class Definitions
 ******************************************************************************/
class state_tracker {
 public:
  explicit state_tracker(const csubsystem::sensing_subsystem* const sensing)
      : mc_sensing(sensing) {}
  virtual ~state_tracker(void) = default;

  state_tracker(const state_tracker&) = delete;
  state_tracker& operator=(const state_tracker&) = delete;

  /* state metrics */
  bool in_state(void) const RCPPSW_PURE;
  bool entered_state(void) const RCPPSW_PURE;
  bool exited_state(void) const RCPPSW_PURE;
  rtypes::timestep state_duration(void) const;
  rtypes::timestep state_entry_time(void) const;

  rmath::vector3z state_loc3D(void) const RCPPSW_PURE;

  void state_enter(void);

  void state_exit(void);

  void state_reset(void);

 private:
  /* clang-format off */
  const subsystem::sensing_subsystem* const mc_sensing;

  bool                                         m_entered_state{false};
  bool                                         m_exited_state{false};
  bool                                         m_in_state{false};
  rtypes::timestep                             m_state_start{0};
  /* clang-format on */
};

} /* namespace cosm::fsm */