Program Listing for File util_hfsm.hpp

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#pragma once

/*******************************************************************************
 * Includes
 ******************************************************************************/
#include <memory>
#include <string>

#include "rcppsw/math/rng.hpp"
#include "rcppsw/math/vector2.hpp"
#include "rcppsw/patterns/fsm/hfsm.hpp"
#include "rcppsw/spatial/euclidean_dist.hpp"

#include "cosm/cosm.hpp"
#include "cosm/spatial/common/interference_tracker.hpp"
#include "cosm/spatial/metrics/interference_metrics.hpp"
#include "cosm/spatial/strategy/base_strategy.hpp"
#include "cosm/spatial/common/nest_zone_tracker.hpp"
#include "cosm/spatial/metrics/nest_zone_metrics.hpp"
#include "cosm/subsystem/subsystem_fwd.hpp"
#include "cosm/spatial/fsm/fsm_params.hpp"

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

/*******************************************************************************
 * Class Definitions
 ******************************************************************************/
class util_hfsm : public rpfsm::hfsm,
                  public rer::client<util_hfsm>,
                  public metrics::interference_metrics,
                  public metrics::nest_zone_metrics {
 public:
  util_hfsm(const fsm_params* params,
            rmath::rng* rng,
            uint8_t max_states);

  ~util_hfsm(void) override = default;

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

  void init(void) override;
  csubsystem::sensing_subsystem* sensing(void) RCPPSW_PURE;
  const csubsystem::sensing_subsystem* sensing(void) const RCPPSW_PURE;

  typename csubsystem::actuation_subsystem* actuation(void) RCPPSW_PURE;
  typename csubsystem::actuation_subsystem* actuation(void) const RCPPSW_PURE;

  const interference_tracker* inta_tracker(void) const { return m_inta_tracker; }

  const nest_zone_tracker* nz_tracker(void) const { return m_nz_tracker; }

 protected:
  rmath::radians random_angle(void);
  rmath::rng* rng(void) { return m_rng; }
  const rmath::rng* rng(void) const { return m_rng; }

  const csubsystem::base_saa_subsystem* saa(void) const { return m_saa; }
  csubsystem::base_saa_subsystem* saa(void) { return m_saa; }
  interference_tracker* inta_tracker(void) { return m_inta_tracker; }
  nest_zone_tracker* nz_tracker(void) { return m_nz_tracker; }

  RCPPSW_HFSM_ENTRY_DECLARE_ND(util_hfsm, entry_wait_for_signal);

 private:
  /* clang-format off */
  csubsystem::base_saa_subsystem* const m_saa;
  interference_tracker*                 m_inta_tracker;
  nest_zone_tracker*                    m_nz_tracker;

  rmath::rng*                           m_rng;
  /* clang-format on */


 public:
  /* interference metrics */
  RCPPSW_WRAP_DECLDEF_OVERRIDE(exp_interference, *m_inta_tracker, const)
  RCPPSW_WRAP_DECLDEF_OVERRIDE(entered_interference, *m_inta_tracker, const)
  RCPPSW_WRAP_DECLDEF_OVERRIDE(exited_interference, *m_inta_tracker, const)
  RCPPSW_WRAP_DECLDEF_OVERRIDE(interference_duration, *m_inta_tracker, const)
  RCPPSW_WRAP_DECLDEF_OVERRIDE(interference_loc3D, *m_inta_tracker, const)

  /* nest_zone metrics */
  RCPPSW_WRAP_DECLDEF_OVERRIDE(in_nest, *m_nz_tracker, const);
  RCPPSW_WRAP_DECLDEF_OVERRIDE(entered_nest, *m_nz_tracker, const);
  RCPPSW_WRAP_DECLDEF_OVERRIDE(exited_nest, *m_nz_tracker, const);
  RCPPSW_WRAP_DECLDEF_OVERRIDE(nest_duration, *m_nz_tracker, const);
  RCPPSW_WRAP_DECLDEF_OVERRIDE(nest_entry_time, *m_nz_tracker, const);
};

} /* namespace cosm::spatial::fsm */