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
 
#include <string>  // for string
 
#include <boost/optional.hpp>   // for optional<>
#include <fable/fable_fwd.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