uwsc-tracker-follower-module.h

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//
// Copyright (c) 2024 Regents of the SIGNET lab, University of Padova.
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
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// notice, this list of conditions and the following disclaimer.
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
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#ifndef UWTRACKF_MODULE_H
#define UWTRACKF_MODULE_H
#include <uwsc-tracker-follower-packet.h>
#include <uwsmposition.h>
#include <uwtracker-module.h>
#include <vector>
 
class UwSCFTrackerModule; // forward declaration
 
class UwUpdateMineStatus : public TimerHandler
{
public:
    UwUpdateMineStatus(UwSCFTrackerModule *m)
        : TimerHandler()
        , module(m)
    {
    }
 
protected:
    virtual void expire(Event *e);
    UwSCFTrackerModule *module;
};
 
class UwSCFTrackerModule : public UwTrackerModule
{
    friend class UwUpdateMineStatus;
 
public:
    UwSCFTrackerModule();
 
    virtual ~UwSCFTrackerModule() = default;
 
    virtual int command(int argc, const char *const *argv) override;
 
    virtual void initPkt(Packet *p) override;
 
protected:
    enum class FollowerState {
        TRACK, 
        DETECT, 
        DEMINE, 
        IDLE 
    };
 
    std::vector<UWSMPosition *> mine_positions; 
    Position auv_position; 
    FollowerState auv_state; 
    double demine_period; 
    hdr_uwSCFTracker mine_measure; 
    UwUpdateMineStatus mine_timer; 
    void sendPkt();
 
    void updateMineRemove();
 
    UWSMPosition *updateTrackPosition();
 
    virtual void start() override;
 
    virtual void stop() override;
};
 
#endif // UWTRACKF_MODULE_H