Program Listing for File mode_inference.hpp

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// 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