Stuck State Cleanup and Refactor

[ClayJay3]

Description

Adds stuck state logic for search pattern. Also abstracts path splicing code into stuck state via the Waypoint Handlers StorePath and RetrievePath methods.

Changes Made

• Moved splicing logic used for Navigating into Stuck State. There are not very many changes except the usage of the Waypoint Handlers StorePath and RetrievePath methods.
• Due to Search Pattern reversing its path for a reverse spiral, when in the forward spiral, stuck state needs to store two paths. One path is the remaining path of the forward spiral with the obstacle splice. The other path is the entire path with obstacle splice. The first path is given to the visualizer and pure pursuit controller and the other path replaces the m_vSearchPath so it can be correctly reversed when end of path is reached.
• Due to needing two paths to be spliced, the splicing part of the code was moved to its own function to make the code significantly less evil.

Testing

• Tested on Linux Mint
• Sim Tested
  1. Tested in Navigating State
  2. Tested in Search Pattern in first spiral
  3. Tested in Search Pattern reverse spiral

**Screenshots/Video

obstacle path with forward spiral

same obstacle path after reverse spiral

navigating obstacle path

Known Issues

• TODO: closest point used for the point filter is not necessarily current point in path (thinking of seach state drifting). Maybe use target index from path controller instead?

[codacy-production]

Not up to standards ⛔

🔴 Issues 2 medium

Alerts:
⚠ 2 issues (≤ 0 issues of at least minor severity)

Results:
2 new issues

Category	Results
Performance	2 medium

View in Codacy

🟢 Metrics 98 complexity · -13 duplication

Metric	Results
Complexity	98
Duplication	-13

View in Codacy

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[gemini-code-assist]

Code Review

This pull request performs a significant refactor of the Autonomy software stack, including migrating the LiDAR database backend from SQLite to DuckDB, removing legacy TensorFlow/EdgeTPU dependencies, and updating the state machine logic for approaching markers and objects. Additionally, it includes updates to the dev container configuration and visualization tools. My review identified a critical configuration error in the devcontainer.json file and an out-of-bounds access issue in the logging module due to removed functionality.