scanner_v2.h

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// Copyright (c) 2020-2021 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_SCANNER_V2_H
#define PSEN_SCAN_V2_STANDALONE_SCANNER_V2_H
 
#include <memory>
#include <mutex>
#include <future>
#include <functional>
 
#include <boost/optional.hpp>
 
#include "psen_scan_v2_standalone/scanner_interface.h"
#include "psen_scan_v2_standalone/protocol_layer/scanner_events.h"
#include "psen_scan_v2_standalone/protocol_layer/scanner_state_machine.h"
 
#include "psen_scan_v2_standalone/util/watchdog.h"
 
namespace psen_scan_v2_standalone
{
class ScannerConfiguration;
using namespace psen_scan_v2_standalone::protocol_layer;
using std::placeholders::_1;
using std::placeholders::_2;
 
class ScannerV2 : public IScanner
{
public:
  ScannerV2(const ScannerConfiguration& scanner_config, const LaserScanCallback& laser_scan_callback);
  ~ScannerV2() override;
 
public:
  std::future<void> start() override;
 
  std::future<void> stop() override;
 
private:
  template <class T>
  void triggerEventWithParam(const T& event);
 
  template <class T>
  void triggerEvent();
 
  void scannerStartedCallback();
  void scannerStoppedCallback();
  void scannerStartErrorCallback(const std::string& error_msg);
  void scannerStopErrorCallback(const std::string& error_msg);
 
private:
  using OptionalPromise = boost::optional<std::promise<void>>;
 
private:
  OptionalPromise scanner_has_started_{ boost::none };
  OptionalPromise scanner_has_stopped_{ boost::none };
 
  std::mutex member_mutex_;
 
  std::unique_ptr<ScannerStateMachine> sm_;
};
 
template <class T>
void ScannerV2::triggerEventWithParam(const T& event)
{
  const std::lock_guard<std::mutex> lock(member_mutex_);
  sm_->process_event(event);
}
 
template <class T>
void ScannerV2::triggerEvent()
{
  triggerEventWithParam<T>(T());
}
 
}  // namespace psen_scan_v2_standalone
 
#endif  // PSEN_SCAN_V2_STANDALONE_SCANNER_V2_H