statusEstimator.hpp

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#ifndef RTCTK_RTCSUPERVISOR_STATUSESTIMATOR_HPP
#define RTCTK_RTCSUPERVISOR_STATUSESTIMATOR_HPP
 
#include <map>
#include <set>
#include <string>
 
namespace rtctk::rtcSupervisor {
 
// Set of default SRTC component states to expect
constexpr auto STATE_OFF = "Off";
constexpr auto STATE_STARTING = "On::NotOperational::Starting";
constexpr auto STATE_NOT_READY = "On::NotOperational::NotReady";
constexpr auto STATE_INITIALISING = "On::NotOperational::Initialising";
constexpr auto STATE_READY = "On::NotOperational::Ready";
constexpr auto STATE_ENABLING = "On::NotOperational::Enabling";
constexpr auto STATE_DISABLING = "On::NotOperational::Disabling";
constexpr auto STATE_IDLE = "On::Operational::Idle";
constexpr auto STATE_RUNNING = "On::Operational::Running";
constexpr auto STATE_GOING_RUNNING = "On::Operational::GoingRunning";
constexpr auto STATE_GOING_IDLE = "On::Operational::GoingIdle";
constexpr auto STATE_LOOP_OPENING = "On::Operational::Opening";
constexpr auto STATE_LOOP_OPENED = "On::Operational::Opened";
constexpr auto STATE_LOOP_CLOSING = "On::Operational::Closing";
constexpr auto STATE_LOOP_CLOSED = "On::Operational::Closed";
constexpr auto STATE_LOOP_SUSPENDED = "On::Operational::Suspended";
constexpr auto STATE_LOOP_SUSPENDING = "On::Operational::Suspending";
constexpr auto STATE_LOOP_RESUMING = "On::Operational::Resuming";
constexpr auto STATE_ERROR = "On::Operational::Error";
constexpr auto STATE_RECOVERING = "On::Operational::Recovering";
 
// Set of status strings that are understood by the Status Widget and the IFW System Supervisor
constexpr auto STATUS_OFF = "Off";
constexpr auto STATUS_NOT_READY = "NotOperational::NotReady";
constexpr auto STATUS_INITIALISING = "NotOperational::Initialising";
constexpr auto STATUS_READY = "NotOperational::Ready";
constexpr auto STATUS_IDLE = "Operational::Idle";
constexpr auto STATUS_OPEN_LOOP = "Operational::OpenLoop";
constexpr auto STATUS_CLOSED_LOOP = "Operational::ClosedLoop";
constexpr auto STATUS_ERROR = "Operational::Error";
 
// Helpers
bool Contains(const std::string& cont, const std::string& item);
bool ContainsAny(const std::string& cont, const std::set<std::string>& item);
bool Contains(const std::map<std::string, std::string>& cont, const std::string& item);
bool ContainsAny(const std::map<std::string, std::string>& cont, const std::set<std::string>& item);

class StatusEstimator {
public:
    StatusEstimator();
    virtual ~StatusEstimator() = default;

    void Reset();

    std::string EstimateStatus(const std::string& name, const std::string& state);
 
protected:
    virtual std::string ApplyEstimationHeuristic(const std::map<std::string, std::string>& states);
 
    // cppcheck-suppress-begin unusedStructMember
 
    std::map<std::string, std::string> m_states;
    std::map<std::string, std::string> m_prev_states;
    std::string m_prev_status;
 
    // cppcheck-suppress-end unusedStructMember
};
 
}  // namespace rtctk::rtcSupervisor
 
#endif  // RTCTK_RTCSUPERVISOR_STATUSESTIMATOR_HPP