latlong_actuator.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_COMPONENT_LATLONG_ACTUATOR_HPP_
#define CLOE_COMPONENT_LATLONG_ACTUATOR_HPP_

#include <boost/optional.hpp>         // for optional<>
#include <fable/json/with_boost.hpp>  // for to_json

#include <cloe/component.hpp>                // for Component, Json
#include <cloe/component/actuator.hpp>       // for Actuator
#include <cloe/utility/actuation_level.hpp>  // for ActuationLevel

namespace cloe {

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

  virtual void set_acceleration(double a) {
    target_acceleration_ = a;
    level_.set_long();
  }

  virtual boost::optional<double> acceleration() { return target_acceleration_; }

  virtual bool is_acceleration() const { return static_cast<bool>(target_acceleration_); }

  virtual void set_steering_angle(double a) {
    target_steering_angle_ = a;
    level_.set_lat();
  }

  virtual boost::optional<double> steering_angle() { return target_steering_angle_; }

  virtual bool is_steering_angle() const { return static_cast<bool>(target_steering_angle_); }

  utility::ActuationLevel actuation_level() const { return level_; }

  Json active_state() const override {
    return Json{
        {"target_acceleration", target_acceleration_},
        {"target_steering_angle", target_steering_angle_},
        {"actuation_label", level_.to_human_cstr()},
    };
  }

  Duration process(const Sync& sync) override {
    auto t = Component::process(sync);
    target_acceleration_.reset();
    target_steering_angle_.reset();
    level_.set_none();
    return t;
  }

  void reset() override {
    Component::reset();
    target_acceleration_.reset();
    target_steering_angle_.reset();
    level_.set_none();
  }

 protected:
  utility::ActuationLevel level_;
  boost::optional<double> target_acceleration_;
  boost::optional<double> target_steering_angle_;
};

class LongActuator : public Actuator<double> {
 public:
  using Actuator::Actuator;
  LongActuator() : Actuator("long_actuator") {}
  virtual ~LongActuator() noexcept = default;
};

class LatActuator : public Actuator<double> {
 public:
  using Actuator::Actuator;
  LatActuator() : Actuator("lat_actuator") {}
  virtual ~LatActuator() noexcept = default;
};

}  // namespace cloe

#endif  // CLOE_COMPONENT_LATLONG_ACTUATOR_HPP_