dataManager.hpp

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//\todo prouciti mogucnost primjene inline funkcija

/*********************************************************************
 * dataManager.hpp
 *
 *  Created on: Jun 20, 2014
 *      Author: Filip Mandic
 *
 ********************************************************************/

/*********************************************************************
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#ifndef DATAMANAGER_HPP_
#define DATAMANAGER_HPP_

#include <labust_mission/labustMission.hpp>

/*********************************************************************
 ***  DataManager class definition
 ********************************************************************/

namespace labust {
        namespace data {

                class DataManager{

                public:

                        /*****************************************************************
                         ***  Class functions
                         ****************************************************************/

                        DataManager();

                        void updateStateVar(const auv_msgs::NavSts::ConstPtr& data);

                        void updateMissionVar(int missionVarID, double value);

                        void setMissionVar(double value);

                        void setMissionVarNames(string name);

                        void updateEventsVar(vector<uint8_t> values);

                        vector<double> getStateVar();

                        vector<double> getMissionVar();

                        vector<string> getMissionVarNames();

                        vector<uint8_t> getEventsVar();

                        void reset();


                        /*********************************************************************
                         ***  Class variables
                         ********************************************************************/

                private:

                        /* State Hat variables */
                        vector<double> stateHatVar;

                        /* Events data variables */
                        vector<uint8_t> eventsVar;

                        /* Mission specific variables */
                        vector<double> missionVar;
                        vector<string> missionVarNames;
                };

                DataManager::DataManager(){

                        stateHatVar.resize(stateHatNum);
                        eventsVar.clear();
                        missionVar.clear();
                        missionVarNames.clear();

                }

                void DataManager::updateStateVar(const auv_msgs::NavSts::ConstPtr& data){

                        stateHatVar[u] = data->body_velocity.x;
                        stateHatVar[v] = data->body_velocity.y;
                        stateHatVar[w] = data->body_velocity.z;
                        stateHatVar[r] = data->orientation_rate.yaw;

                        stateHatVar[x] = data->position.north;
                        stateHatVar[y] = data->position.east;
                        stateHatVar[z] = data->position.depth;
                        stateHatVar[psi] = data->orientation.yaw;

                        stateHatVar[x_var] = data->position_variance.north;
                        stateHatVar[y_var] = data->position_variance.east;
                        stateHatVar[z_var] = data->position_variance.depth;
                        stateHatVar[psi_var] = data->orientation_variance.yaw;

                        stateHatVar[alt] = data->altitude;

                }

                void DataManager::updateMissionVar(int missionVarID, double value){

                        missionVar.at(missionVarID-1) = value;
                        /* OVDJE DODAJ KAKO DA HENDLA EXCEPTION */
                }

                void DataManager::setMissionVar(double value){

                                missionVar.push_back(value);
                }

                void DataManager::setMissionVarNames(string name){

                        missionVarNames.push_back(name.c_str());
                        /* OVDJE DODAJ KAKO DA HENDLA EXCEPTION */
                }

                void DataManager::updateEventsVar(vector<uint8_t> values){

                        eventsVar = values;
                        /* OVDJE DODAJ KAKO DA HENDLA EXCEPTION */
                }

                vector<double> DataManager::getStateVar(){
                        return stateHatVar;
                }

                vector<double> DataManager::getMissionVar(){
                        return missionVar;
                }

                vector<uint8_t> DataManager::getEventsVar(){
                        return eventsVar;
                }

                vector<string> DataManager::getMissionVarNames(){
                        return missionVarNames;
                }

                void DataManager::reset(){

                        missionVar.clear();
                        missionVarNames.clear();
                        eventsVar.clear();
                }
        }
}

#endif /* DATAMANAGER_HPP_ */