AutonomousTask.h

#pragma once
 
#include "../navtypes.h"
 
#include <cmath>
#include <condition_variable>
#include <mutex>
#include <thread>
 
namespace autonomous {
 
/*
 * @brief This class facilitates autonomous navigation to a specified waypoint.
 */
class AutonomousTask {
public:
    /*
     * @brief Constructs a new AutonomousTask
     */
    AutonomousTask();
 
    /*
     * @brief Destructs AutonomousTask object, joins _autonomous_task_thread
     */
    ~AutonomousTask();
 
    /*
     * @brief Starts an autonomous task to the provided waypoint
     *
     * @param navtypes::pose_t The waypoint to navigate to
     */
    void start(const navtypes::point_t&);
 
    /*
     * @brief Halts autonomous navigation by exiting the navigate() function and joining the
     *        autonomous task thread
     */
    void kill();
 
private:
    /*
     * @brief Handles navigation to waypoint, called by start()
     */
    void navigate();
 
    navtypes::point_t _waypoint_coords;
    std::mutex _autonomous_task_mutex;
    std::thread _autonomous_task_thread;
    std::condition_variable _autonomous_task_cv;
    bool _kill_called;
};
 
} // namespace autonomous