up_base.h

/*
 * Developer : Mark Verrijt (mark.verrijt@vectioneer.com),
 *             Alexey Zakharov (alexey.zakharov@vectioneer.com)
 * All rights reserved. Copyright (c) 2021 VECTIONEER.
 */
 
#ifndef MOTORCORTEX_CORE_UP_BASE_H
#define MOTORCORTEX_CORE_UP_BASE_H
 
#include "nlohmann/json.hpp"
#include "ps_setparam.h"
#include "up_userparams.h"
#include "utl_xml.h"
#include <map>
#include <memory>
 
namespace mcx::user_parameters {
 
struct Parameter {
  std::string name;
  std::string path;
  mcx::parameter_server::DataType datatype;
  size_t length;
  size_t size;
  mcx::parameter_server::ParameterType param_type;
  size_t data_idx;
};
 
using BranchParams = std::map<std::string, std::vector<Parameter>>;
using DefaultValues = std::vector<mcx::parameter_server::SetParam>;
 
struct UserParametersData {
  Status status{Status::DISABLED};
  std::unique_ptr<uint8_t[]> data;
  BranchParams branch_params;
  DefaultValues default_values;
  size_t total_bytes;
};
 
class UserParametersBase {
public:
  virtual UserParametersData load(const nlohmann::json& json) = 0;
  virtual ~UserParametersBase() = default;
 
protected:
  static mcx::parameter_server::ParameterType getParameterType(std::string param_type_string) {
    utils::trim(param_type_string);
    std::transform(param_type_string.begin(), param_type_string.end(), param_type_string.begin(), ::toupper);
    if (param_type_string == "INPUT") {
      return mcx::parameter_server::ParameterType::INPUT;
    } else if (param_type_string == "OUTPUT") {
      return mcx::parameter_server::ParameterType::OUTPUT;
    } else if (param_type_string == "PARAMETER") {
      return mcx::parameter_server::ParameterType::PARAMETER;
    } else if (param_type_string == "PARAMETER_VOLATILE") {
      return mcx::parameter_server::ParameterType::PARAMETER_VOLATILE;
    } else if (param_type_string == "PARAMETER_PERSISTENT") {
      return mcx::parameter_server::ParameterType::PARAMETER_PERSISTENT;
    }
    return mcx::parameter_server::ParameterType::UNDEFINED;
  }
 
  static std::tuple<Parameter, bool> createParameter(std::string type, const std::string& path, size_t total_bytes,
                                                     const std::string& err);
};
 
} // namespace mcx::user_parameters
 
#endif // MOTORCORTEX_CORE_UP_BASE_H