Feature trigger class definition

modules/ScenarioControl/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8)
+set (CMAKE_CXX_STANDARD 11)
+
+project(ScenarioControl)
+# This module is an example of how to set up a new module external to the Maestro executable
+
+
+include_directories(inc)
+include_directories(src)
+include_directories(../../util/C/logging)
+include_directories(../../util/C/time)
+include_directories(../../util/C/MQBus)
+include_directories(../../server/inc)
+include(GNUInstallDirs)
+
+
+# Create library
+add_library(MaestroLogging
+    ../../util/C/logging/logging.h
+    ../../util/C/logging/logging.c
+)
+
+add_library(MaestroTime
+    ../../util/C/time/maestroTime.h
+    ../../util/C/time/maestroTime.c
+)
+
+add_library(MQBus
+    ../../util/C/MQBus/mqbus.h
+    ../../util/C/MQBus/mqbus.c
+)
+
+# Create library
+add_library(util
+    ../../server/src/util.c
+    ../../server/inc/util.h
+)
+
+add_library(Trigger
+    inc/trigger.h
+    src/trigger.cpp
+    inc/booleantrigger.h
+    src/booleantrigger.cpp
+    inc/braketrigger.h
+    src/braketrigger.cpp
+)
+
+add_executable(ScenarioControl src/main.cpp)
+
+install(TARGETS ScenarioControl DESTINATION bin)
+
+target_link_libraries(ScenarioControl MaestroTime MaestroLogging util Trigger)
+target_link_libraries(util MQBus MaestroTime MaestroLogging)
+target_link_libraries(MQBus rt m)
+
+
+

modules/ScenarioControl/README.md

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+## ScenarioControl module
+TODO.
+
+### Build process
+1) Ensure your util repo is up to date
+2) Navigate to this README.md file
+3) Create the build directory: ```mkdir build```
+4) Enter the build directory: ```cd build```
+5) Generate necessary cmake files: ```cmake ..```
+6) Build the module: ```make```
+
+### Run the module
+1) Ensure you have built the module
+2) Navigate to the build directory
+3) Run the module: ```./ScenarioControl```
+4) Run Maestro
+
+Note: steps 3 and 4 can be replaced with running the runServer.sh script in the top directory of this repository

modules/ScenarioControl/inc/booleantrigger.h

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+#ifndef BOOLEANTRIGGER_H
+#define BOOLEANTRIGGER_H
+
+#include "trigger.h"
+
+#include <vector>
+#include <set>
+
+class BooleanTrigger : public Trigger
+{
+public:
+    using Trigger::Trigger;
+
+    virtual TriggerReturnCode_t parseParameters() override = 0;
+
+    TriggerReturnCode_t update(bool) override;
+
+protected:
+    TriggerReturnCode_t checkIfTriggered(void) override;
+
+    enum TriggerMode {
+        INVALID_MODE,
+        HIGH,
+        LOW,
+        EDGE_RISING,
+        EDGE_FALLING,
+        EDGE_ANY}
+    mode = INVALID_MODE;
+
+    bool isStateTrue = false, wasStateTrue = false;
+
+private:
+
+    virtual std::set<Trigger::TriggerParameter_t> getAcceptedParameters() override
+    {
+        return {
+            Trigger::TRIGGER_PARAMETER_FALSE,
+            Trigger::TRIGGER_PARAMETER_TRUE,
+            Trigger::TRIGGER_PARAMETER_RISING_EDGE,
+            Trigger::TRIGGER_PARAMETER_FALLING_EDGE,
+            Trigger::TRIGGER_PARAMETER_ANY_EDGE
+        };
+    }
+
+
+};
+
+#endif // BOOLEANTRIGGER_H

modules/ScenarioControl/inc/braketrigger.h

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+#ifndef BRAKETRIGGER_H
+#define BRAKETRIGGER_H
+
+#include "booleantrigger.h"
+
+#include <set>
+#include <vector>
+
+class BrakeTrigger : public BooleanTrigger
+{
+public:
+    BrakeTrigger(TriggerID_t triggerID);
+    TriggerReturnCode_t parseParameters() override;
+
+private:
+    std::vector<TriggerParameter_t> parameters;
+
+    std::set<Trigger::TriggerParameter_t> getAcceptedParameters() override
+    {
+        return {
+            Trigger::TRIGGER_PARAMETER_FALSE,
+            Trigger::TRIGGER_PARAMETER_TRUE,
+            Trigger::TRIGGER_PARAMETER_RELEASED,
+            Trigger::TRIGGER_PARAMETER_PRESSED,
+            Trigger::TRIGGER_PARAMETER_LOW,
+            Trigger::TRIGGER_PARAMETER_HIGH,
+            Trigger::TRIGGER_PARAMETER_RISING_EDGE,
+            Trigger::TRIGGER_PARAMETER_FALLING_EDGE,
+            Trigger::TRIGGER_PARAMETER_ANY_EDGE
+        };
+    }
+};
+#endif // BRAKETRIGGER_H

modules/ScenarioControl/inc/trigger.h

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+#ifndef TRIGGER_H
+#define TRIGGER_H
+
+#include <cstdint>
+#include <set>
+#include <iostream>
+#include <vector>
+
+
+
+class Trigger
+{
+public:
+    /*! Typedefs */
+    typedef enum {
+        TRIGGER_UNDEFINED               = 0x0000,
+        TRIGGER_TYPE_1                  = 0x0001,
+        TRIGGER_SPEED                   = 0x0010,
+        TRIGGER_DISTANCE                = 0x0020,
+        TRIGGER_ACCELERATION            = 0x0030,
+        TRIGGER_LANE_CHANGED            = 0x0040,
+        TRIGGER_LANE_OFFSET             = 0x0050,
+        TRIGGER_POSITION_REACHED        = 0x0060,
+        TRIGGER_POSITION_LEFT           = 0x0061,
+        TRIGGER_POSITION_OFFSET         = 0x0062,
+        TRIGGER_STEERING_ANGLE          = 0x0070,
+        TRIGGER_THROTTLE_VALUE          = 0x0080,
+        TRIGGER_BRAKE                   = 0x0090,
+        TRIGGER_ACTIVE_TRAJECTORY       = 0x00A0,
+        TRIGGER_OTHER_OBJECT_FEATURE    = 0x00B0,
+        TRIGGER_INFRASTRUCTURE          = 0x00C0,
+        TRIGGER_TEST_SCENARIO_EVENT     = 0x00D0,
+        TRIGGER_MISC_DIGITAL_INPUT      = 0x00E0,
+        TRIGGER_MISC_ANALOG_INPUT       = 0x00F0,
+        TRIGGER_TIMER_EVENT_OCCURRED    = 0x0100,
+        TRIGGER_MODE_CHANGED            = 0x0110,
+        TRIGGER_UNAVAILABLE             = 0xFFFF
+    } TriggerTypeCode_t;
+
+    typedef enum {
+        TRIGGER_PARAMETER_FALSE                     = 0x00000000,
+        TRIGGER_PARAMETER_TRUE                      = 0x00000001,
+        TRIGGER_PARAMETER_RELEASED                  = 0x00000010,
+        TRIGGER_PARAMETER_PRESSED                   = 0x00000011,
+        TRIGGER_PARAMETER_LOW                       = 0x00000020,
+        TRIGGER_PARAMETER_HIGH                      = 0x00000021,
+        TRIGGER_PARAMETER_RISING_EDGE               = 0x00000022,
+        TRIGGER_PARAMETER_FALLING_EDGE              = 0x00000023,
+        TRIGGER_PARAMETER_ANY_EDGE                  = 0x00000024,
+        TRIGGER_PARAMETER_RELATIVE                  = 0x00000030,
+        TRIGGER_PARAMETER_ABSOLUTE                  = 0x00000031,
+        TRIGGER_PARAMETER_VALUE                     = 0x00000040,
+        TRIGGER_PARAMETER_MIN                       = 0x00000050,
+        TRIGGER_PARAMETER_MAX                       = 0x00000051,
+        TRIGGER_PARAMETER_MEAN                      = 0x00000052,
+        TRIGGER_PARAMETER_EQUAL_TO                  = 0x00000060,
+        TRIGGER_PARAMETER_GREATER_THAN              = 0x00000061,
+        TRIGGER_PARAMETER_GREATER_THAN_OR_EQUAL_TO  = 0x00000062,
+        TRIGGER_PARAMETER_LESS_THAN                 = 0x00000063,
+        TRIGGER_PARAMETER_LESS_THAN_OR_EQUAL_TO     = 0x00000064,
+        TRIGGER_PARAMETER_NOT_EQUAL_TO              = 0x00000065,
+        TRIGGER_PARAMETER_X                         = 0x00000070,
+        TRIGGER_PARAMETER_Y                         = 0x00000071,
+        TRIGGER_PARAMETER_Z                         = 0x00000072,
+        TRIGGER_PARAMETER_TIME                      = 0x00000080,
+        TRIGGER_PARAMETER_DATE                      = 0x00000081,
+        TRIGGER_PARAMETER_RULE                      = 0x000000A0,
+        TRIGGER_PARAMETER_UNAVAILABLE               = 0xFFFFFFFF
+    } TriggerParameter_t;
+
+    typedef uint16_t TriggerID_t;
+
+    typedef enum {
+        OK,
+        NOT_OK,
+        INVALID_ARGUMENT,
+        TRIGGER_OCCURRED,
+        NO_TRIGGER_OCCURRED
+    } TriggerReturnCode_t;
+
+
+    /*! Constructor */
+    Trigger(TriggerID_t triggerID, TriggerTypeCode_t triggerType);
+
+
+    /*! Destructor */
+    virtual ~Trigger();
+
+
+    /*! Getters */
+    virtual TriggerTypeCode_t getTypeCode() { return triggerTypeCode; }
+    uint16_t getID() { return triggerID; }
+    std::vector<TriggerParameter_t> getParameters() { return parameters; }
+
+
+    /*! Setters */
+    void setID(uint16_t triggerID) { this->triggerID = triggerID; }
+
+    /*!
+     * \brief appendParameter Appends an ISO parameter to the parameters list.
+     * \param triggerParameter Parameter to append
+     * \return Value according to ::TriggerReturnCode_t
+     */
+    TriggerReturnCode_t appendParameter(TriggerParameter_t triggerParameter);
+
+    /*!
+     * \brief parseParameters Parse the parameters list into an appropriate Trigger mode.
+     * \return Value according to ::TriggerReturnCode_t
+     */
+    virtual TriggerReturnCode_t parseParameters() = 0;
+
+
+    /*! To string */
+    friend std::ostream& operator<<(std::ostream &strm, Trigger &trig) {
+        return strm << "TRIGGER ID " << trig.triggerID <<
+                       " TYPE " << getTypeAsString(trig.getTypeCode()) <<
+                       " PARAMETERS " << trig.getParametersString();
+    }
+
+    static std::string getTypeAsString(TriggerTypeCode_t typeCode);
+    static std::string getParameterAsString(TriggerParameter_t param);
+    std::string getParametersString();
+
+    /*!
+     * \brief update Update tracked signal (i.e. signal which causes the trigger to occur).
+     * Inheriting classes should override the appropriate function(s)
+     * - e.g. a trigger tracking a floating point trigger should override
+     * update(float) and update(double)
+    */
+    virtual TriggerReturnCode_t update(void)    { return INVALID_ARGUMENT; }
+    virtual TriggerReturnCode_t update(bool)    { return INVALID_ARGUMENT; }
+    virtual TriggerReturnCode_t update(char)    { return INVALID_ARGUMENT; }
+    virtual TriggerReturnCode_t update(int)     { return INVALID_ARGUMENT; }
+    virtual TriggerReturnCode_t update(float)   { return INVALID_ARGUMENT; }
+    virtual TriggerReturnCode_t update(double)  { return INVALID_ARGUMENT; }
+
+protected:
+    TriggerReturnCode_t checkTriggerParameter(TriggerParameter_t triggerParameter);
+    TriggerTypeCode_t triggerTypeCode;
+
+private:
+    TriggerID_t triggerID;
+    std::vector<TriggerParameter_t> parameters;
+
+    virtual std::set<TriggerParameter_t> getAcceptedParameters()
+        { return {TRIGGER_PARAMETER_UNAVAILABLE}; }
+
+    virtual TriggerReturnCode_t checkIfTriggered(void) = 0;
+};
+
+#endif // TRIGGER_H

modules/ScenarioControl/src/booleantrigger.cpp

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+#include "booleantrigger.h"
+
+/*!
+ * \brief BooleanTrigger::update Updates the tracked signal (i.e. which causes the trigger) to the value specified
+ * \param isBrakeCurrentlyPressed Boolean describing if the boolean
+ * \return Value according to ::TriggerReturnCode_t
+ */
+Trigger::TriggerReturnCode_t BooleanTrigger::update(bool currentStateValue)
+{
+    wasStateTrue = isStateTrue;
+    isStateTrue = currentStateValue;
+    return checkIfTriggered();
+}
+
+/*!
+ * \brief BooleanTrigger::checkIfTriggered Check if the trigger has occurred based on the mode and state
+ * \return Value according to ::TriggerReturnCode_t
+ */
+Trigger::TriggerReturnCode_t BooleanTrigger::checkIfTriggered()
+{
+    switch (mode) {
+    case HIGH:
+        return isStateTrue ? TRIGGER_OCCURRED : NO_TRIGGER_OCCURRED;
+    case LOW:
+        return !isStateTrue ? TRIGGER_OCCURRED : NO_TRIGGER_OCCURRED;
+    case EDGE_ANY:
+        return (isStateTrue != wasStateTrue) ? TRIGGER_OCCURRED : NO_TRIGGER_OCCURRED;
+    case EDGE_RISING:
+        return (isStateTrue && !wasStateTrue) ? TRIGGER_OCCURRED : NO_TRIGGER_OCCURRED;
+    case EDGE_FALLING:
+        return (!isStateTrue && wasStateTrue) ? TRIGGER_OCCURRED : NO_TRIGGER_OCCURRED;
+    case INVALID_MODE:
+        return NOT_OK;
+    }
+}
+
+