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 <sstream>
#include <map>
#include <functional>
#include <eeros/safety/InputAction.hpp>
#include <eeros/safety/OutputAction.hpp>

namespace eeros {
    namespace safety {

        class SafetyContext;
        class SafetySystem;

        enum EventType { kPrivateEvent, kPublicEvent };
        
        class SafetyEvent {
            friend class SafetyLevel;
        public:
            SafetyEvent(std::string description);
            virtual ~SafetyEvent();
            std::string getDescription();
        private:
            std::string description;
            uint32_t id;
        };

        
        class SafetyLevel {
            friend class SafetySystem;
            friend class SafetyProperties;
        public:
            SafetyLevel(std::string description);
            virtual ~SafetyLevel();
            std::string getDescription();
            uint32_t getLevelId();
            uint32_t getNofActivations();
            SafetyLevel* getDestLevelForEvent(SafetyEvent event, bool privateEventOk = false);
            void addEvent(SafetyEvent event, SafetyLevel& nextLevel, 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);
            bool operator<(const SafetyLevel& level);
            bool operator<=(const SafetyLevel& level);
            bool operator>(const SafetyLevel& level);
            bool operator>=(const SafetyLevel& level);
            bool operator==(const SafetyLevel& level);
            bool operator!=(const SafetyLevel& level);
        private:
            std::function<void (SafetyContext*)> action;
            int32_t id;
            uint32_t nofActivations;
            std::string description;
            std::map<uint32_t, std::pair<SafetyLevel*, EventType>> transitions;
            std::vector<InputAction*> inputAction;
            std::vector<OutputAction*> outputAction;
        };
        
        /********** Print functions **********/
        std::ostream& operator<<(std::ostream& os, eeros::safety::SafetyEvent& event);
        std::ostream& operator<<(std::ostream& os, eeros::safety::SafetyEvent* event);
        std::ostream& operator<<(std::ostream& os, eeros::safety::SafetyLevel& level);
        std::ostream& operator<<(std::ostream& os, eeros::safety::SafetyLevel* level);

    }
}
#endif // ORG_EEROS_SAFETY_SAFETYLEVEL_HPP_