controller_interface.h

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/*********************************************************************
 *
 *  Software License Agreement
 *
 *  Copyright (c) 2020,
 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
 *  All rights reserved.
 *
 *  This program is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU 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 General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program.  If not, see <https://www.gnu.org/licenses/>.
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 *  Authors: Christoph Rösmann
 *********************************************************************/

#ifndef SRC_CONTROLLERS_INCLUDE_CORBO_CONTROLLERS_CONTROLLER_INTERFACE_H_
#define SRC_CONTROLLERS_INCLUDE_CORBO_CONTROLLERS_CONTROLLER_INTERFACE_H_

#include <corbo-controllers/statistics.h>
#include <corbo-core/factory.h>
#include <corbo-core/reference_trajectory.h>
#include <corbo-core/signal_target_interface.h>
#include <corbo-core/time.h>
#include <corbo-core/types.h>
#include <corbo-systems/output_function_interface.h>

#ifdef MESSAGE_SUPPORT
#include <corbo-communication/messages/controllers/controllers.pb.h>
#endif

#include <memory>

namespace corbo {

class ControllerInterface
{
 public:
    using Ptr           = std::shared_ptr<ControllerInterface>;
    using UPtr          = std::unique_ptr<ControllerInterface>;
    using StateVector   = Eigen::VectorXd;
    using ControlVector = Eigen::VectorXd;

    virtual ~ControllerInterface() {}

    virtual Ptr getInstance() const = 0;

    static Factory<ControllerInterface>& getFactory() { return Factory<ControllerInterface>::instance(); }

    virtual int getControlInputDimension() const = 0;
    virtual int getStateDimension() const = 0;

    virtual bool providesFutureControls() const = 0;

    virtual bool providesFutureStates() const = 0;

    virtual bool hasPiecewiseConstantControls() const = 0;

    virtual bool initialize(const StateVector& x, ReferenceTrajectoryInterface& expected_xref, ReferenceTrajectoryInterface& expected_uref,
                            const Duration& expected_dt, const Time& t, ReferenceTrajectoryInterface* expected_sref = nullptr)
    {
        return true;
    }

    virtual bool step(const StateVector& x, ReferenceTrajectoryInterface& xref, ReferenceTrajectoryInterface& uref, const Duration& dt, const Time& t,
                      ControlVector& u, SignalTargetInterface* signal_target = nullptr, const std::string& ns = "");

    virtual bool step(const StateVector& x, ReferenceTrajectoryInterface& xref, ReferenceTrajectoryInterface& uref, const Duration& dt, const Time& t,
                      TimeSeries::Ptr u_sequence, TimeSeries::Ptr x_sequence, SignalTargetInterface* signal_target = nullptr,
                      ReferenceTrajectoryInterface* sref = nullptr, ReferenceTrajectoryInterface* xinit = nullptr,
                      ReferenceTrajectoryInterface* uinit = nullptr, const std::string& ns = "") = 0;

    virtual double getControlDuration() const { return 0.0; }
    virtual bool supportsAsynchronousControl() const { return false; }

    virtual void reset() = 0;

    virtual void getAvailableSignals(SignalTargetInterface& signal_target, const std::string& ns = "") const {}

    virtual void sendSignals(double t, SignalTargetInterface& signal_target, const std::string& ns = "") const {}

    virtual ControllerStatistics::Ptr getStatistics() const { return {}; }

#ifdef MESSAGE_SUPPORT
    virtual void toMessage(corbo::messages::Controller& message) const {}
    virtual void fromMessage(const corbo::messages::Controller& message, std::stringstream* issues = nullptr) {}
#endif
};

using ControllerFactory = Factory<ControllerInterface>;
#define FACTORY_REGISTER_CONTROLLER(type) FACTORY_REGISTER_OBJECT(type, ControllerInterface)

}  // namespace corbo

#endif  // SRC_CONTROLLERS_INCLUDE_CORBO_CONTROLLERS_CONTROLLER_INTERFACE_H_