state_machine.cpp

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#ifndef _STATE_MACHINE_CPP_
#define _STATE_MACHINE_CPP_

#include "follow_pedestrian.h"

void state_machine(void)
{


        a_h = (((double)rand())/(double)RAND_MAX);




        //if (status.CONTROL_CAR_SPEED)

        //sprintf(text,"%s",status.CONTROL_CAR_SPEED?"CAR SPEED AUTOMATIC CONTROL (press A to change)":"CAR SPEED MANUAL CONTROL (press A to change)");
        //draw_text_on_glwindow(t_viewpoint.glwindow.width/2, t_viewpoint.glwindow.height-20,text);

        //sprintf(text,"(press R to abort tracking)");
        //draw_text_on_glwindow(t_viewpoint.glwindow.width/2, t_viewpoint.glwindow.height-20*2,text);

        //sprintf(text,"%s",do_execute_tutorial?"Tutorial On (press t to change)":"Tutorial Off (press t to change)");
        //draw_text_on_glwindow(t_viewpoint.glwindow.width/2, t_viewpoint.glwindow.height-20*3,text);



        //sprintf(text,"Direction: %f",hc.direction);
        //draw_text_on_glwindow(10, t_viewpoint.glwindow.height-60,text);
        //sprintf(text,"Speed: %f",hc.speed);
        //draw_text_on_glwindow(10, t_viewpoint.glwindow.height-75,text);

        //sprintf(text,"Lights: Left %s Right %s Max %s Med %s ",hc.lights_left?"On":"Off",hc.lights_right?"On":"Off",hc.lights_high?"On":"Off",hc.lights_medium?"On":"Off");
        //draw_text_on_glwindow(10, t_viewpoint.glwindow.height-90,text);



        //if (status.state==TRACKING || status.state==TRACKING_NOT_SAFE) //if were tracking someone, lets draw it
        //{
        //}

        printf("status.target_found=%d\n",status.target_found);
        printf("status.last_id=%d\n",status.last_id);

        status.target_found=false;
        int should_move=false;
        double dist_to_target=1000;



        print_status(&status);
        switch(status.state)
        {
                case INITIALISE: 


                        //bring the ptu to home position
                        foveationcontrol_home(); 

                        //setting up the high command message
                        status.direction = DIRECTION_IN_FRONT;
//                      set_high_command_msg_direction_speed(command_msg, status.direction, SPEED_STOP);
//                      set_high_command_msg_lights(command_msg, LIGHT_OFF, LIGHT_OFF, LIGHT_OFF, LIGHT_OFF, LIGHT_ON);


                        status.previous_state=INITIALISE; //unconditional transition to searching state
                        status.state=SEARCHING;
                        //none here

                        break;
                case SEARCHING: 

                        if (status.previous_state!=SEARCHING) //update start of SEARCHING state tic
                        {
                                status.tic_searching=ros::Time::now();
                        }

                        //search for a target
                        status.target_found = search_for_new_target(&targets, &status,&search_area);
                        printf("status.target_found=%d\n",status.target_found);
                        status.last_id=status.target_id;

                        play_sound(4, 10);
                        foveationcontrol_sweeping();

                        //setting up the high command message
//                      status.direction = command_msg.steering_wheel;
//                      set_high_command_msg_direction_speed(command_msg, status.direction, SPEED_STOP);
//                      set_high_command_msg_lights(command_msg, LIGHT_OFF, LIGHT_OFF, LIGHT_OFF, LIGHT_OFF, LIGHT_ON);

                        if(status.target_found && !is_safe_using_lasers()) //if a target but safe zone not clear we transit to TRACKING_NOT_SAFE
                        {
                                status.previous_state=SEARCHING;
                                status.state=TRACKING_NOT_SAFE;
                                play_sound(2, 10);
                        }
                        else if(status.target_found) //if a target is found we transit to tracking
                        {
                                status.previous_state=SEARCHING;
                                status.state=TRACKING;
                                play_sound(0, -1);
                        }
                        break;
                case TRACKING: 
                        if (status.previous_state!=TRACKING) //update start of SEARCHING state tic
                        {
                                status.tic_tracking=ros::Time::now();
                        }

                        foveationcontrol(&status);//do foveationcontrol
                        status.target_found=get_new_target_information(&targets, &status);

                        //setting up the high command message
                        play_sound(1, 15);

                        //send pedestrian marker
                        

                        status.direction = atan2(status.current_y,status.current_x);
//                      set_high_command_msg_direction_speed(command_msg, status.direction, SPEED_MOVE_SLOW);
//                      set_high_command_msg_lights(command_msg, LIGHT_OFF, LIGHT_ON, LIGHT_OFF, LIGHT_OFF, LIGHT_ON);

                        if(status.reset_tracking==true)//user ordered a reset of tracking
                        {
                                status.previous_state=TRACKING;
                                status.state=SEARCHING;
                                status.reset_tracking = false;
                                play_sound(5, -1);
                        }
                        else if(status.target_found==false || status.current_x<3.0)//target was lost
                        {
                                status.previous_state=TRACKING;
                                status.state=TARGET_LOST;
                                play_sound(5, -1);

                        }else if (!is_safe_using_lasers())
                        {
                                status.previous_state=TRACKING;
                                status.state=TRACKING_NOT_SAFE;
                                if (dist_to_target<6)
                                        play_sound(6, -1);
                                else
                                        play_sound(2, -1);
                        }
                        break;
                case TRACKING_NOT_SAFE: 
                        if (status.previous_state!=TRACKING_NOT_SAFE) //update start of SEARCHING state tic
                        {
                                status.tic_tracking_not_safe=ros::Time::now();
                        }

                        status.target_found = get_new_target_information(&targets, &status);
                        foveationcontrol(&status);//do foveationcontrol

                        if (status.target_found)
                        {
                                dist_to_target = sqrt(pow(status.current_x-2.7,2) + pow(status.current_y,2));
                                printf("status.target_id=%d\n",status.target_id);
                                printf("dist_to_target=%f\n",dist_to_target);
                                if (dist_to_target<4)
                                        play_sound(6, 10);
                                else
                                        play_sound(2, 10);
                        }


                        //setting up the high command message
                        status.direction = atan2(status.current_y,status.current_x);
//                      set_high_command_msg_direction_speed(command_msg, status.direction, SPEED_STOP);
//                      set_high_command_msg_lights(command_msg, LIGHT_OFF, LIGHT_ON, LIGHT_ON, LIGHT_ON, LIGHT_ON);

                        if(status.reset_tracking==true)//user ordered a reset of tracking
                        {
                                status.previous_state=TRACKING_NOT_SAFE;
                                status.state=SEARCHING;
                                status.reset_tracking = false;

                        }
                        else if(status.target_found==false || status.current_x<3.0)//target was lost
                        {
                                status.previous_state=TRACKING_NOT_SAFE;
                                status.state=TARGET_LOST;
                                play_sound(5, -1);

                        }
                        else if (is_safe_using_lasers())
                        {
                                int tmp = status.previous_state;
                                status.previous_state=TRACKING_NOT_SAFE;
                                status.state=TRACKING;
                                if (tmp!=SEARCHING)
                                {
                                        play_sound(3, -1);
                                }
                                else
                                {
                                }
                        }

                        break;
                case TARGET_LOST: 


                        foveationcontrol_home();

                        //setting up the high command message
//                      set_high_command_msg_direction_speed(command_msg, command_msg.steering_wheel, SPEED_STOP);
//                      set_high_command_msg_lights(command_msg, LIGHT_OFF, LIGHT_OFF, LIGHT_OFF, LIGHT_OFF, LIGHT_ON);


                        status.previous_state=TARGET_LOST; 
                        status.state=SEARCHING; //unconditional transition to SEARCHING


                        break;
                default: 

                        ROS_ERROR("WARNING DANGER unknown state in state machine abort demonstration");
                        //setting up the high command message
//                      set_high_command_msg_direction_speed(command_msg, command_msg.steering_wheel, SPEED_STOP);
//                      set_high_command_msg_lights(command_msg, LIGHT_OFF, LIGHT_OFF, LIGHT_OFF, LIGHT_OFF, LIGHT_ON);
                        break;
        }

        //if (!status.CONTROL_CAR_SPEED)
        //{
        //hc.speed = SPEED_STOP;
        //}

//      command_msg.header.stamp = ros::Time::now();
//      command_pub.publish(command_msg);
}


#endif