vehicle_state_model.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
 
#include <functional>  // for function
 
#include <boost/optional.hpp>                // for optional<>
#include <fable/json.hpp>                    // for Json
#include <fable/utility/boost_optional.hpp>  // for to_json
 
#include <cloe/component.hpp>         // for Component
#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;
  }
 
  fable::Json active_state() const override {
    return fable::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