ExoTestMachine.h

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 * /brief The <code>ExoTestMachine</code> class represents an example implementation of an exoskeleton state machine 
 * with five states. Initialisation, sitting, standing, standing up and sitting down. The test machine
 * is made as example for developers to structure their specific use cases with. 
 * For more detail on the architecture and mechanics of the state machine class see:https://embeded.readthedocs.io/en/latest/StaeMachines/.
 * 
 *  State transition Diagram.
 * 
 *         startExo             startStand
 *  initState +-----> sitting +---------> standingUp
 *                      ^                  +
 *           EndTraj    |                  | EndTraj
 *                      |                  |
 *                      +                  |
 *                 sittingDwn <---------+ standing
 *                              startSit
 * 
 * Version 0.1
 * Date: 07/04/2020
 *
 */
#ifndef EXO_SM_H
#define EXO_SM_H

#include <sys/time.h>

#include <array>
#include <cmath>
#include <fstream>
#include <iostream>
#include <string>

#include "ExoRobot.h"
#include "ExoTestState.h"
#include "StateMachine.h"

 // State Classes
#include "InitState.h"
#include "Sitting.h"
#include "SittingDwn.h"
#include "Standing.h"
#include "StandingUp.h"

class ExoTestMachine : public StateMachine {
    public:
     bool running = false;
     ExoTestMachine();
     void init();
     void activate();
     void deactivate();

     void hwStateUpdate();
     State *gettCurState();
     void initRobot(ExoRobot *rb);
     bool trajComplete;
     DummyTrajectoryGenerator *trajectoryGenerator;

     // Pointers to the relevant states - initialised in init
     InitState *initState;
     SittingDwn *sittingDwn;
     StandingUp *standingUp;
     Sitting *sitting;
     Standing *standing;

    protected:
     // Pointer to the Robot
     ExoRobot *robot;

    private:
     // Event Objects defined using Macro defined in StateMachine.h
     // Defines the Class itself, as well as initialises an object of that class
     // An events check function are defined in the .cpp file.
     EventObject(EndTraj) * endTraj;
     EventObject(IsAPressed) * isAPressed;
     EventObject(StartButtonsPressed) * startButtonsPressed;
     EventObject(StartExo) * startExo;
     EventObject(StartSit) * startSit;
     EventObject(StartStand) * startStand;
 };

#endif /*EXO_SM_H*/