actuation_state.hpp

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/*
 * Copyright 2020 Robert Bosch GmbH
 *
 * 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.
 *
 * SPDX-License-Identifier: Apache-2.0
 */
#pragma once
#ifndef CLOE_UTILITY_ACTUATION_STATE_HPP_
#define CLOE_UTILITY_ACTUATION_STATE_HPP_

#include <string>  // for string

#include <boost/optional.hpp>  // for optional<>

#include <fable/json.hpp>  // for Json

#include <cloe/core.hpp>                     // for Duration
#include <cloe/utility/actuation_level.hpp>  // for ActuationLevel
#include <cloe/utility/statistics.hpp>       // for Accumulator

namespace cloe {
namespace utility {

struct ActuationState {
  Duration time{0};

  uint64_t step{0};

  bool aeb_active{false};

  ActuationLevel fct_control{ActuationLevel::None};

  boost::optional<double> fct_set_speed;

  boost::optional<double> fct_time_gap;

  boost::optional<double> fct_speed_limiter_velocity;

  int fct_speed_limiter_state;

  boost::optional<double> acceleration;

  boost::optional<double> steering_angle;

  boost::optional<double> steering_torque;

  bool is_aeb_active() const { return aeb_active; }

  bool is_fct_active() const;

  bool is_active() const { return is_aeb_active() || is_fct_active(); }

  bool is_consistent() const;

  friend void to_json(fable::Json& j, const ActuationState& s);
};

struct ActuationStatistics {
  Accumulator active;
  Accumulator consistent;
  Accumulator aeb_active;
  Pie<ActuationLevel::Enum> fct_control;
  Accumulator fct_active;
  Accumulator fct_set_speed;
  Accumulator fct_time_gap;
  Accumulator acceleration;
  Accumulator steering_angle;
  Accumulator steering_torque;

  void push_back(const ActuationState& s);
  void reset();

  friend void to_json(fable::Json& j, const ActuationStatistics& s);
};

}  // namespace utility
}  // namespace cloe

#endif  // CLOE_UTILITY_ACTUATION_STATE_HPP_