vehicle_state_model.hpp

Go to the documentation of this file.

/*
 * 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_VEHICLE_STATE_MODEL_HPP_
#define CLOE_COMPONENT_VEHICLE_STATE_MODEL_HPP_

#include <functional>  // for function

#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/object.hpp>  // for Object

namespace cloe {

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

  virtual void set_vehicle_state(const Object& obj) { vehicle_state_ = obj; }

  const boost::optional<Object>& vehicle_state() {
    if (vehicle_state_callback_) {
      vehicle_state_callback_();
    }
    return vehicle_state_;
  }

  bool is_vehicle_state() {
    if (vehicle_state_callback_) {
      vehicle_state_callback_();
    }
    return static_cast<bool>(vehicle_state_);
  }

  void register_vehicle_state_callback(const std::function<void(void)>& c) {
    vehicle_state_callback_ = c;
  }

  Json active_state() const override {
    return Json{
        {"vehicle_state", vehicle_state_},
    };
  }

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

  void reset() override {
    Component::reset();
    vehicle_state_.reset();
  }

 protected:
  boost::optional<Object> vehicle_state_;

  std::function<void(void)> vehicle_state_callback_;
};

}  // namespace cloe

#endif  // CLOE_COMPONENT_VEHICLE_STATE_MODEL_HPP_