NavigationCtrl.h

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#ifndef NAVIGATIONCTRL_H__
#define NAVIGATIONCTRL_H__

#include "LogConfiguration.h"

#include "DriveCtrl.h"

class NavigationCtrl {
    //=====PUBLIC====================================================================================
   public:
    enum class Event { MoveToTargetPosition,  
                       PosEndPointReached,    
                       PosTransitReached,     
                       PosReached,            
                       Error,                 
                       Resume,                
                       Reset,                 
                       NoEvent                
    };

    enum class State { endPoint,      
                       toGateway,     
                       gateway,       
                       crossTransit,  
                       toEndPoint,    
                       resetState,    
                       errorState     
    };

    enum class Sector {
        SorticHandover,                 
        SorticToHandover,               
        SorticWaitForGateway,           
        SorticGateway,                  
        TransitWaitForGatewaySortic,    
        TransitToSortic,                
        TransitToTransfer,              
        Parking,                        
        TransitWaitForGatewayTransfer,  
        TransferGateway,                
        TransferWaitForGateway,         
        TransferToHandover,             
        TransferHandover,               
        error                           
    };

    NavigationCtrl();

    void loop();

    void loop(Event currentEvent);

    const State getcurrentState();

    const Sector getcurrentSector();

    const int getcurrentLine();

    void setTargetPosition(Sector sector, const int line);

    void setActualPosition(Sector sector, const int line);

    void giveToken();

    String decodeSector(Sector sector);

    NavigationCtrl::Sector decodeSector(String sector);

    //=====PRIVATE====================================================================================
   private:
    State lastStateBevorError;        
    State currentState;               
    Event currentEvent;               
    int pCurrentSubState = 0;         
    int pLastSubStateBevorError = 0;  
    int pSubStateLoopInc = 0;         

    struct ActualPos {
        Sector startSector = Sector::SorticHandover;  
        Sector lastSector;                            
        Sector sector = startSector;                  
        int line = 1;                                 
        bool token = false;                           
    } pActual;

    struct TargetPos {
        Sector sector;  
        int line;       
    } pTarget;

    bool tranistonce = true;            
    DriveCtrl::Event pLastGatewayTurn;  

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

    DriveCtrl pDriveCtrl;  

    //=====PrivateFunctions=========================================================================
    void process(Event e);
    //=====StateFunctions=====
    //=====endPoint==========================================================
    void entryAction_endPoint();

    NavigationCtrl::Event doAction_endPoint();

    void exitAction_endPoint();

    //=====toGateway==========================================================
    void entryAction_toGateway();

    NavigationCtrl::Event doAction_toGateway();

    void exitAction_toGateway();

    //=====gateway==========================================================
    void entryAction_gateway();

    NavigationCtrl::Event doAction_gateway();

    void exitAction_gateway();

    //=====crossTransit==========================================================
    void entryAction_crossTransit();

    NavigationCtrl::Event doAction_crossTransit();

    void exitAction_crossTransit();

    //=====toEndPoint==========================================================
    void entryAction_toEndPoint();

    NavigationCtrl::Event doAction_toEndPoint();

    void exitAction_toEndPoint();

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

    NavigationCtrl::Event doAction_errorState();

    void exitAction_errorState();

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

    NavigationCtrl::Event doAction_resetState();

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

    String decodeEvent(Event event);
};
#endif