driver_request.hpp

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/*
 * Copyright 2022 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_COMPONENT_DRIVER_REQUEST_HPP_
#define CLOE_COMPONENT_DRIVER_REQUEST_HPP_

#include <cloe/component.hpp>  // for Component, Json

namespace cloe {

class DriverRequest : public Component {
 public:
  using Component::Component;
  DriverRequest() : Component("driver_request") {}
  virtual ~DriverRequest() noexcept = default;

  virtual boost::optional<double> acceleration() const = 0;

  virtual bool has_acceleration() const = 0;

  virtual boost::optional<double> steering_angle() const = 0;

  virtual bool has_steering_angle() const = 0;

  Json active_state() const override {
    return Json{
        {"acceleration", acceleration()},
        {"steering_angle", steering_angle()},
    };
  }
};

class NopDriverRequest : public DriverRequest {
 public:
  using DriverRequest::DriverRequest;
  NopDriverRequest() : DriverRequest("nop_driver_request") {}
  virtual ~NopDriverRequest() noexcept {};

  boost::optional<double> acceleration() const override { return acceleration_; }
  bool has_acceleration() const override { return static_cast<bool>(acceleration_); }

  boost::optional<double> steering_angle() const override { return steering_angle_; }
  bool has_steering_angle() const override { return static_cast<bool>(steering_angle_); }

  Duration process(const Sync& sync) override {
    auto t = DriverRequest::process(sync);
    acceleration_.reset();
    steering_angle_.reset();
    return t;
  }

  void reset() override {
    DriverRequest::reset();
    acceleration_.reset();
    steering_angle_.reset();
  }

 protected:
  boost::optional<double> acceleration_{0.0};
  boost::optional<double> steering_angle_{0.0};
};

}  // namespace cloe

#endif  // CLOE_COMPONENT_DRIVER_REQUEST_HPP_