Program Listing for File controller_handler.hpp

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// Copyright 2023 Komáromi Sándor
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef KUKA_DRIVERS_CORE__CONTROLLER_HANDLER_HPP_
#define KUKA_DRIVERS_CORE__CONTROLLER_HANDLER_HPP_

#include <map>
#include <set>
#include <string>
#include <utility>
#include <vector>

#include "control_mode.hpp"
#include "rclcpp/rclcpp.hpp"

namespace kuka_drivers_core
{
class ControllerHandler
{
private:
  struct ControllerTypes
  {
    std::string standard_controller;
    std::string impedance_controller;
  };

  std::set<std::string> fixed_controllers_;

  std::set<std::string> active_controllers_;

  std::set<std::string> activate_controllers_;

  std::set<std::string> deactivate_controllers_;

  std::map<ControlMode, ControllerTypes> control_mode_map_;

public:
  explicit ControllerHandler(std::vector<std::string> fixed_controllers = {});

  ~ControllerHandler() = default;

  bool UpdateControllerName(
    const ControllerType controller_type, const std::string & controller_name);

  std::pair<std::vector<std::string>, std::vector<std::string>> GetControllersForSwitch(
    ControlMode new_control_mode);

  std::vector<std::string> GetControllersForDeactivation();

  void ApproveControllerActivation();

  bool ApproveControllerDeactivation();

  std::vector<std::string> GetControllersForMode(ControlMode control_mode);
};
}  // namespace kuka_drivers_core

#endif  // KUKA_DRIVERS_CORE__CONTROLLER_HANDLER_HPP_