VehicleCtrl.h

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#ifndef BOXCTRL_H__
#define BOXCTRL_H__

#include <Arduino.h>

// own files:
#include "Configuration.h"

#include "HoistCtrl.h"
#include "MQTTCommunication.h"
#include "NavigationCtrl.h"

class VehicleCtrl {
    //=====PUBLIC====================================================================================
   public:
    struct Vehicle {
        String id = DEFAULT_HOSTNAME;                                                  
        NavigationCtrl::Sector actualSector = NavigationCtrl::Sector::SorticHandover;  
        int actualLine = DEFAUL_HOSTNAME_NUMBER;                                       
        NavigationCtrl::Sector targetSector = NavigationCtrl::Sector::SorticHandover;  
        int targetLine = actualLine;                                                   
        String cargo = "null";                                                         
        String status = "null";                                                        
        String substate = "null";                                                      
        String ack = "null";                                                           
        String req = "null";                                                           
    } vehicle;

    enum class Event { PosReached,        
                       HSsucessful,       
                       AnswerReceived,    
                       NoAnswerReceived,  
                       Error,             
                       Resume,            
                       Reset,             
                       NoEvent            
    };

    VehicleCtrl();
    void loop();

    void loop(Event currentEvent);

    //=====PRIVATE====================================================================================
   private:
    void process(Event e);

    enum class State { waitForBox,     
                       handshake,      
                       loadVehicle,    
                       unloadVehicle,  
                       resetState,     
                       errorState      
    };

    State lastStateBevorError;                 
    State currentState;                        
    Event currentEvent;                        
    int substate = 0;                          
    int pSorticPark[SORTIC_MAX_LINE] = {0};    
    int pTransferPark[SORTIC_MAX_LINE] = {1};  
    unsigned int pRandomDelayFactor = 0;       

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

    NavigationCtrl pNavCtrl;                                
    Communication pComm = Communication(DEFAULT_HOSTNAME);  
    HoistCtrl pHoistCtrl;                                   

    unsigned long currentMillis = 0;               
    unsigned long previousMillis = 0;              
    unsigned long previousMillisPublishToken = 0;  
    unsigned long previousMillisPublish = 0;       
    unsigned long previousMillisPublishPos = 0;    

    //=====StateFunctions===============================================================
    //==waitForBox==========================================================
    void entryAction_waitForBox();

    VehicleCtrl::Event doAction_waitForBox();

    void exitAction_waitForBox();

    //==handshake==========================================================
    void entryAction_handshake();

    VehicleCtrl::Event doAction_handshake();

    void exitAction_handshake();

    //==loadVehicle==========================================================
    void entryAction_loadVehicle();

    VehicleCtrl::Event doAction_loadVehicle();

    void exitAction_loadVehicle();

    //==unloadVehicle==========================================================
    void entryAction_unloadVehicle();

    VehicleCtrl::Event doAction_unloadVehicle();

    void exitAction_unloadVehicle();

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

    VehicleCtrl::Event doAction_errorState();

    void exitAction_errorState();

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

    VehicleCtrl::Event doAction_resetState();

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

    String decodeEvent(Event event);

    void publishState(State state);

    void publishPosition();

    void publishTargetPosition();

    void publishTargetPositionBlockLine();

    bool checkForError();

    void clearGui();
};
#endif