.. _program_listing_file__tmp_ws_src_system_modes_system_modes_include_system_modes_mode_inference.hpp:

Program Listing for File mode_inference.hpp
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_system_modes_system_modes_include_system_modes_mode_inference.hpp>` (``/tmp/ws/src/system_modes/system_modes/include/system_modes/mode_inference.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright (c) 2018 - for information on the respective copyright owner
   // see the NOTICE file and/or the repository https://github.com/microros/system_modes
   //
   // 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.
   #pragma once
   
   #include <stdint.h>
   #include <shared_mutex>
   #include <rclcpp/parameter.hpp>
   #include <rclcpp/parameter_map.hpp>
   
   #include <map>
   #include <mutex>
   #include <string>
   #include <memory>
   #include <vector>
   #include <utility>
   
   #include "system_modes/mode.hpp"
   #include "system_modes/mode_handling.hpp"
   
   namespace system_modes
   {
   
   typedef std::map<std::string, StateAndMode> StatesMap;
   typedef std::map<std::string, std::map<std::string, rclcpp::Parameter>> ParametersMap;
   typedef std::map<std::string, std::pair<StateAndMode, StateAndMode>> Deviation;
   
   class ModeInference
   {
   public:
     explicit ModeInference(const std::string & model_path);
     // cppcheck-suppress unknownMacro
     RCLCPP_DISABLE_COPY(ModeInference)
   
     virtual const std::vector<std::string> get_all_parts() const;
     virtual const std::vector<std::string> get_nodes() const;
     virtual const std::vector<std::string> get_systems() const;
     virtual const std::vector<std::string> get_all_parts_of(
       const std::string & system) const;
   
     virtual void update(const std::string &, const StateAndMode &);
     virtual void update_state(const std::string &, unsigned int);
     virtual void update_mode(const std::string &, const std::string &);
     virtual void update_param(const std::string &, rclcpp::Parameter &);
     virtual void update_target(const std::string &, StateAndMode);
   
     virtual StateAndMode get(const std::string & part) const;
     virtual StateAndMode get_or_infer(const std::string & part);
   
     virtual StateAndMode infer(const std::string & part);
     virtual StateAndMode infer_node(const std::string & part);
     virtual StateAndMode infer_system(const std::string & part);
   
     virtual Deviation infer_transitions();
   
     virtual Deviation get_deviation();
   
     virtual StateAndMode get_target(const std::string & part) const;
     virtual ModeConstPtr get_mode(const std::string & part, const std::string & mode) const;
     virtual std::vector<std::string> get_available_modes(const std::string & part) const;
   
     virtual ~ModeInference() = default;
   
   protected:
     virtual bool matching_parameters(const rclcpp::Parameter &, const rclcpp::Parameter &) const;
     virtual void read_modes_from_model(const std::string & model_path);
     virtual void add_param_to_mode(ModeBasePtr, const rclcpp::Parameter &);
   
   private:
     ModeHandling * mode_handling_;
   
     StatesMap nodes_, nodes_target_, nodes_cache_;
     StatesMap systems_, systems_target_, systems_cache_;
     std::map<std::string, ModeMap> modes_;
     ParametersMap parameters_;
   
     mutable std::shared_timed_mutex
       nodes_mutex_, systems_mutex_,
       modes_mutex_, parts_mutex_,
       param_mutex_;
     mutable std::shared_timed_mutex
       nodes_target_mutex_, systems_target_mutex_;
     mutable std::shared_timed_mutex
       nodes_cache_mutex_, systems_cache_mutex_;
   };
   
   }  // namespace system_modes