SafetyLevel.hpp

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#ifndef ORG_EEROS_SAFETY_SAFETYLEVEL_HPP_
#define ORG_EEROS_SAFETY_SAFETYLEVEL_HPP_

#include <stdint.h>
#include <string>
#include <vector>
#include <map>
#include <functional>
#include <eeros/safety/InputAction.hpp>
#include <eeros/safety/OutputAction.hpp>

namespace eeros {
    namespace safety {

        class SafetyContext;
        class SafetySystem;

        enum { kInvalidLevel = -1 };
        enum EventType { kPrivateEvent, kPublicEvent };

        class SafetyLevel {

            friend class SafetySystem;

        public:
            SafetyLevel(int32_t id, std::string description);
            virtual ~SafetyLevel();
            
            int32_t getId();
            std::string getDescription();
            int32_t getLevelIdForEvent(uint32_t event, bool privateEventOk = false);
            
            void addEvent(uint32_t event, int32_t nextLevelId, EventType type = kPrivateEvent);
            
            void setInputAction(InputAction* action); // TODO rename to add...
            void setInputActions(std::vector<InputAction*> actionList);
            void setOutputAction(OutputAction* action); // TODO rename to add...
            void setOutputActions(std::vector<OutputAction*> actionList);
            
            void setLevelAction(std::function<void (SafetyContext* context)> action);
            
            SafetyLevel& operator<(const SafetyLevel&);
            
        private:
            std::function<void (SafetyContext*)> action;
            
            int32_t id;
            std::string description;
            std::map<uint32_t, std::pair<int32_t, EventType>> transitions;
            
            std::vector<InputAction*> inputAction;
            std::vector<OutputAction*> outputAction;
        };

    };
};

#endif // ORG_EEROS_SAFETY_SAFETYLEVEL_HPP_