io_state.h

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// Copyright (c) 2021-2022 Pilz GmbH & Co. KG
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
#ifndef PSEN_SCAN_V2_STANDALONE_IO_STATE_H
#define PSEN_SCAN_V2_STANDALONE_IO_STATE_H
 
#include <cstdint>
#include <ostream>
#include <string>
#include <vector>
 
#include "psen_scan_v2_standalone/data_conversion_layer/io_pin_data.h"
 
namespace psen_scan_v2_standalone
{
class PinState
{
public:
  PinState(uint32_t pin_id, const std::string& name, bool state);
  bool operator==(const PinState& ps) const;
  bool operator!=(const PinState& ps) const;
  uint32_t id() const;
  std::string name() const;
  bool state() const;
 
private:
  uint32_t id_;
  std::string name_;
  bool state_;
};
 
std::ostream& operator<<(std::ostream& os, const PinState& pin_state);
 
inline std::string formatPinState(const PinState& pin)
{
  return fmt::format("{} = {}", pin.name(), pin.state());
}
 
inline std::string formatPinStates(const std::vector<PinState>& pins)
{
  std::stringstream strstr;
  strstr << "{";
  for (auto it = pins.begin(); std::next(it) < pins.end(); ++it)
  {
    strstr << formatPinState(*it) << ", ";
  }
  if (!pins.empty())
  {
    strstr << formatPinState(pins.back());
  }
  strstr << "}";
  return strstr.str();
}
 
class IOState
{
public:
  IOState() = default;
  IOState(data_conversion_layer::monitoring_frame::io::PinData pin_data, const int64_t& timestamp);
  std::vector<PinState> input() const;
  std::vector<PinState> output() const;
  int64_t timestamp() const;
  std::vector<PinState> changedInputStates(const IOState& ref_state) const;
  std::vector<PinState> changedOutputStates(const IOState& ref_state) const;
 
  bool operator==(const IOState& io_state) const;
  bool operator!=(const IOState& io_state) const;
 
public:
  friend std::ostream& operator<<(std::ostream& os, const IOState& io_state);
 
private:
  data_conversion_layer::monitoring_frame::io::PinData pin_data_{};
  int64_t timestamp_{};
};
 
std::ostream& operator<<(std::ostream& os, const IOState& io_state);
}  // namespace psen_scan_v2_standalone
 
#endif  // PSEN_SCAN_V2_STANDALONE_IO_STATE_H