observer_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_OBSERVERS_INCLUDE_CORBO_OBSERVERS_OBSERVER_INTERFACE_H_
#define SRC_OBSERVERS_INCLUDE_CORBO_OBSERVERS_OBSERVER_INTERFACE_H_
 
#include <corbo-core/factory.h>
#include <corbo-core/signal_target_interface.h>
#include <corbo-core/time.h>
#include <corbo-core/types.h>
 
#ifdef MESSAGE_SUPPORT
#include <corbo-communication/messages/observers/observers.pb.h>
#endif
 
#include <memory>
 
namespace corbo {
 
class ObserverInterface
{
 public:
    using Ptr          = std::shared_ptr<ObserverInterface>;
    using UPtr         = std::unique_ptr<ObserverInterface>;
    using StateVector  = Eigen::VectorXd;
    using OutputVector = Eigen::VectorXd;
 
    virtual ~ObserverInterface() {}
 
    virtual Ptr getInstance() const = 0;
 
    static Factory<ObserverInterface>& getFactory() { return Factory<ObserverInterface>::instance(); }
 
    virtual int getOutputDimension() const = 0;
 
    virtual int getStateDimension() const = 0;
 
    virtual bool observe(const OutputVector& y, StateVector& x, const Duration& dt, const Time& t,
                         SignalTargetInterface* signal_target = nullptr, const std::string& ns = "") = 0;
 
    virtual void reset() {}
 
    virtual void getAvailableSignals(SignalTargetInterface& signal_target, const std::string& ns = "") const {}
 
#ifdef MESSAGE_SUPPORT
    virtual void toMessage(corbo::messages::Observer& message) const {}
    virtual void fromMessage(const corbo::messages::Observer& message, std::stringstream* issues = nullptr) {}
#endif
};
 
using ObserverFactory = Factory<ObserverInterface>;
#define FACTORY_REGISTER_OBSERVER(type) FACTORY_REGISTER_OBJECT(type, ObserverInterface)
 
class NoObserver : public ObserverInterface
{
 public:
    // implements interface method
    Ptr getInstance() const override { return std::make_shared<NoObserver>(); }
 
    // implements interface method
    int getOutputDimension() const override { return property::INHERITED; }
    // implements interface method
    int getStateDimension() const override { return property::INHERITED; }
    // implements interface method
    bool observe(const OutputVector& y, StateVector& x, const Duration& /*dt*/, const Time& /*t*/,
                 SignalTargetInterface* signal_target = nullptr, const std::string& ns = "") override
    {
        x = y;
        return true;
    }
 
#ifdef MESSAGE_SUPPORT
    // implements interface method
    void toMessage(corbo::messages::Observer& message) const override { message.mutable_no_observer(); }
#endif
};
 
FACTORY_REGISTER_OBSERVER(NoObserver)
 
}  // namespace corbo
 
#endif  // SRC_OBSERVERS_INCLUDE_CORBO_OBSERVERS_OBSERVER_INTERFACE_H_