ps_link.h

/*
 * Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
 * All rights reserved. Copyright (c) 2021 VECTIONEER.
 */
 
#ifndef MOTORCORTEX_CORE_PS_LINK_H
#define MOTORCORTEX_CORE_PS_LINK_H
 
#include "cmdline_field.h"
#include "cmdline_systemmode.h"
#include "nlohmann/json.hpp"
#include "ps_paramtype.h"
#include "ps_setparam.h"
#include <future>
#include <vector>
 
namespace mcx::parameter_server {
 
class Parameter;
 
struct Link {
  ParameterPath source;
  ParameterPath destination;
  double gain{1.0};
  double offset{0.0};
  bool inv_bool{false};
  bool enable{true};
};
 
struct LinkGroup {
  std::string name;
  mcx::cmd_line::SystemMode system_mode{mcx::cmd_line::SystemMode::ALL_MODES};
  bool enable{true};
  std::vector<Link> links;
  std::vector<SetParam> set_params;
};
 
using LinkGroups = typename std::vector<LinkGroup>;
 
class Linking {
public:
  LinkGroups load(const std::string& file_name);
  static bool link(const LinkGroups& links, Parameter* root, cmd_line::SystemMode system_mode);
  static bool setParameters(const LinkGroups& linking_groups, Parameter* root, cmd_line::SystemMode system_mode);
 
private:
  static const std::map<std::string, mcx::cmd_line::FieldDesc>& getFields();
  static std::string buildPathAndCheck(const std::string& path, size_t index, Parameter* root);
  static bool linkDestWithWildcard(const Link& l, Parameter* root);
  static bool linkSrcWithWildcard(const Link& l, Parameter* root);
  static bool linkBothWithWildcard(const Link& l, Parameter* root);
  static bool performLinking(const LinkGroup& links, Parameter* root);
  LinkGroups loadGroups(const nlohmann::json& root) const;
  LinkGroup loadGroup(const nlohmann::json& group) const;
  Link loadLink(const nlohmann::json& link) const;
  SetParam loadSetParam(const nlohmann::json& set_param) const;
  ParameterPath loadParameterPath(const nlohmann::json& param_path) const;
  std::string path_;
};
 
bool link(const std::string& file_name, Parameter* root, cmd_line::SystemMode system_mode);
 
} // namespace mcx::parameter_server
 
#endif // MOTORCORTEX_CORE_PS_LINK_H