sequence.h

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/*
 * Copyright (c) 2019 Pilz GmbH & Co. KG
 *
 * 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 SEQUENCE_H
#define SEQUENCE_H

#include <stdexcept>
#include <vector>
#include <utility>
#include <typeinfo>

#include <pilz_msgs/MotionSequenceRequest.h>

#include "command_types_typedef.h"
#include "motioncmd.h"

namespace pilz_industrial_motion_testutils
{
class Sequence
{
public:
  void add(const CmdVariant& cmd, const double blend_radius = 0.);

  size_t size() const;

  template <class T>
  T& getCmd(const size_t index_cmd);

  template <class T>
  const T& getCmd(const size_t index_cmd) const;

  template <class T>
  bool cmdIsOfType(const size_t index_cmd) const;

  MotionCmd& getCmd(const size_t index_cmd);

  void setAllBlendRadiiToZero();
  void setBlendRadius(const size_t index_cmd, const double blend_radius);
  double getBlendRadius(const size_t index_cmd) const;

  void erase(const size_t start, const size_t end);

  pilz_msgs::MotionSequenceRequest toRequest() const;

private:
  using TCmdRadiiPair = std::pair<CmdVariant, double>;
  std::vector<TCmdRadiiPair> cmds_;
};

inline void Sequence::add(const CmdVariant& cmd, const double blend_radius)
{
  cmds_.emplace_back(cmd, blend_radius);
}

inline size_t Sequence::size() const
{
  return cmds_.size();
}

template <class T>
inline T& Sequence::getCmd(const size_t index_cmd)
{
  return boost::get<T>(cmds_.at(index_cmd).first);
}

template <class T>
inline const T& Sequence::getCmd(const size_t index_cmd) const
{
  return boost::get<T>(cmds_.at(index_cmd).first);
}

inline double Sequence::getBlendRadius(const size_t index_cmd) const
{
  return cmds_.at(index_cmd).second;
}

inline void Sequence::setBlendRadius(const size_t index_cmd, const double blend_radius)
{
  cmds_.at(index_cmd).second = blend_radius;
}

inline void Sequence::setAllBlendRadiiToZero()
{
  std::for_each(cmds_.begin(), cmds_.end(), [](TCmdRadiiPair& cmd) { cmd.second = 0.; });
}

template <class T>
inline bool Sequence::cmdIsOfType(const size_t index_cmd) const
{
  return cmds_.at(index_cmd).first.type() == typeid(T);
}

}  // namespace pilz_industrial_motion_testutils

#endif  // SEQUENCE_H