DriveCtrl.h

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#ifndef DRIVECTRL_H__
#define DRIVECTRL_H__

#include "HardwareConfiguration.h"
#include "LogConfiguration.h"

#include <PID_v1.h>

#include "Drive/Drive.h"
#include "EnvironmentDetection.h"

class DriveCtrl {
    //=====PUBLIC====================================================================================
   public:
    enum class Event { TurnLeft,            
                       TurnRight,           
                       TurnAround,          
                       FollowLineForward,   
                       FollowLineBackward,  
                       FullLineDetected,    
                       LineAligned,         
                       Error,               
                       Resume,              
                       Reset,               
                       NoEvent              
    };

    enum class State { idle,                   
                       turningLeft,            
                       turningRight,           
                       turningAround,          
                       followingLineForward,   
                       followingLineBackward,  
                       resetState,             
                       errorState              
    };

    DriveCtrl();

    void loop();

    void loop(Event currentEvent);

    const State getcurrentState();

    //=====PRIVATE====================================================================================
   private:
    State lastStateBevorError;  
    State currentState;         
    Event currentEvent;         

    Event (DriveCtrl::*doActionFPtr)(void) = nullptr;

    unsigned long currentMillis = 0;                      
    unsigned long previousMillis = 0;                     
    const unsigned long ignoreSensorTurnMillis = 500;     
    const unsigned long ignoreSensorAroundMillis = 1500;  

    double pController_Input = 0;          
    double pController_Output = 0;         
    double pController_Setpoint = 0;       
    int pSampleTime = 50;                  
    double pVal_p = PID_KP;                
    double pVal_i = PID_KI / pSampleTime;  
    double pVal_d = PID_KD * pSampleTime;  

    PID pController = PID(&pController_Input, &pController_Output, &pController_Setpoint, pVal_p, pVal_i, pVal_d, DIRECT);
    Drive pDrive = Drive(RIGHT_MOTOR, LEFT_MOTOR);  
    EnvironmentDetection pEnvdetect;                

    //=====PrivateFunctions=========================================================================
    void process(Event e);

    //=====StateFunctions=====
    //=====idle==========================================================
    void entryAction_idle();

    DriveCtrl::Event doAction_idle();

    void exitAction_idle();

    //=====turningLeft==========================================================
    void entryAction_turningLeft();

    DriveCtrl::Event doAction_turningLeft();

    void exitAction_turningLeft();

    //=====turningRight==========================================================
    void entryAction_turningRight();

    DriveCtrl::Event doAction_turningRight();

    void exitAction_turningRight();

    //=====turningAround==========================================================
    void entryAction_turningAround();

    DriveCtrl::Event doAction_turningAround();

    void exitAction_turningAround();

    //=====followingLineForward==========================================================
    void entryAction_followingLineForward();

    DriveCtrl::Event doAction_followingLineForward();

    void exitAction_followingLineForward();

    //=====followingLineBackward==========================================================
    void entryAction_followingLineBackward();

    DriveCtrl::Event doAction_followingLineBackward();

    void exitAction_followingLineBackward();
    //==errorState==========================================================
    void entryAction_errorState();

    DriveCtrl::Event doAction_errorState();

    void exitAction_errorState();

    //==resetState==========================================================
    void entryAction_resetState();

    DriveCtrl::Event doAction_resetState();

    void exitAction_resetState();
    //============================================================================
    //==Aux-Function==============================================================
    String decodeState(State state);

    String decodeEvent(Event event);
};
#endif