Program Listing for File robot_dynamics_applicator.hpp

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#pragma once

/*******************************************************************************
 * Includes
 ******************************************************************************/
#include <boost/optional.hpp>
#include <map>

#include "rcppsw/ds/type_map.hpp"
#include "rcppsw/er/client.hpp"
#include "rcppsw/types/type_uuid.hpp"

#include "cosm/tv/switchable_tv_generator.hpp"

/*******************************************************************************
 * Namespaces/Decls
 ******************************************************************************/
namespace cosm::tv {

namespace config {
struct robot_dynamics_applicator_config;
}

/*******************************************************************************
 * Class Definitions
 ******************************************************************************/
class robot_dynamics_applicator : public rer::client<robot_dynamics_applicator> {
 public:
  explicit robot_dynamics_applicator(
      const config::robot_dynamics_applicator_config* config);

  robot_dynamics_applicator(const robot_dynamics_applicator&) = delete;
  const robot_dynamics_applicator&
  operator=(const robot_dynamics_applicator&) = delete;

  virtual void update(void) = 0;

  virtual double avg_motion_throttle(void) const = 0;

  bool motion_throttling_enabled(void) const {
    return (m_motion_throttle_config) ? true : false;
  }
  bool bc_throttling_enabled(void) const {
    return (m_bc_throttle_config) ? true : false;
  }

  RCPPSW_PURE const ctv::switchable_tv_generator*
  motion_throttler(const rtypes::type_uuid& id) const {
    return const_cast<robot_dynamics_applicator*>(this)->motion_throttler(id);
  }

  RCPPSW_PURE const ctv::switchable_tv_generator*
  bc_throttler(const rtypes::type_uuid& id) const {
    return const_cast<robot_dynamics_applicator*>(this)->bc_throttler(id);
  }

  void register_controller(const rtypes::type_uuid& id);

  void unregister_controller(const rtypes::type_uuid& id);

 protected:
  RCPPSW_PURE ctv::switchable_tv_generator*
  motion_throttler(const rtypes::type_uuid& id) {
    auto it = m_motion_throttlers.find(id);
    if (m_motion_throttlers.end() == it) {
      return nullptr;
    }
    return &it->second;
  }

  RCPPSW_PURE ctv::switchable_tv_generator*
  bc_throttler(const rtypes::type_uuid& id) {
    auto it = m_bc_throttlers.find(id);
    if (m_bc_throttlers.end() == it) {
      return nullptr;
    }
    return &it->second;
  }

 private:
  /* clang-format off */
  boost::optional<rct::config::waveform_config> m_motion_throttle_config{};
  boost::optional<rct::config::waveform_config> m_bc_throttle_config{};

  std::map<rtypes::type_uuid,
           ctv::switchable_tv_generator>        m_motion_throttlers{};
  std::map<rtypes::type_uuid,
           ctv::switchable_tv_generator>        m_bc_throttlers{};
  /* clang-format on */
};

} /* namespace cosm::tv */