Line-Following-Robot/lfr_state_machine.h

#pragma once
#include <iostream>
#include <lfr.h>
#include <lfr_socket.h>
#include <uart_communication.h>
#include "lfr_state_interface.h"

class LFR_StateMachine
{
    LFR_IState* currentState;
    LFR_StateMachine() = delete;

    const int thresholdBinary = 140;
    const int videoHeight = 720;
    const int videoWidth = 1280;
    const int gaussKernelSize = 11;

    std::mutex mutex;

    LFR autonomousMode;
    LFR_UART uartCommunicator;
    LFR_Socket socket;
    

public:
    LFR_StateMachine(LFR_IState& startState);
    inline LFR_IState* getCurrentState() const {return currentState;}
    void setState(LFR_IState& newState)
    {
        currentState->exit(this);
        currentState = &newState;
        currentState->enter(this);
    }
};