ThunderAutoMode.hpp

#pragma once
 
#include <string>
#include <memory>
 
namespace thunder {
 
class ThunderAutoProject;
 
namespace driver {
 
class ThunderAutoMode;
class ThunderAutoModeStep;
 
}  // namespace driver
 
class ThunderAutoMode;
 
enum class ThunderAutoModeStepType {
  UNKNOWN,
  ACTION,
  TRAJECTORY,
  BRANCH_BOOL,
  BRANCH_SWITCH,
};
 
class ThunderAutoModeStep final {
 public:
  ~ThunderAutoModeStep();
 
  ThunderAutoModeStep(const ThunderAutoModeStep&) = delete;
  ThunderAutoModeStep& operator=(const ThunderAutoModeStep&) = delete;
  ThunderAutoModeStep(ThunderAutoModeStep&&) noexcept = delete;
  ThunderAutoModeStep& operator=(ThunderAutoModeStep&&) noexcept = delete;
 
  bool isValid() const noexcept;
 
  ThunderAutoModeStepType type() const noexcept;
 
  std::string getActionName() const noexcept;
  std::string getTrajectoryName() const noexcept;
  std::string getConditionName() const noexcept;
 
  driver::ThunderAutoModeStep* getHandle() noexcept;
  const driver::ThunderAutoModeStep* getHandle() const noexcept;
 
 private:
  friend class ThunderAutoMode;
 
  // Ownership is transferred to the constructed object.
  explicit ThunderAutoModeStep(driver::ThunderAutoModeStep* handle) noexcept;
 
 private:
  driver::ThunderAutoModeStep* m_handle;
};
 
class ThunderAutoMode final {
 public:
  ~ThunderAutoMode();
 
  ThunderAutoMode(const ThunderAutoMode&) = delete;
  ThunderAutoMode& operator=(const ThunderAutoMode&) = delete;
  ThunderAutoMode(ThunderAutoMode&&) noexcept = delete;
  ThunderAutoMode& operator=(ThunderAutoMode&&) noexcept = delete;
 
  bool isValid() const noexcept;
 
  std::shared_ptr<ThunderAutoModeStep> getFirstStep();
  std::shared_ptr<ThunderAutoModeStep> getNextStep(std::shared_ptr<ThunderAutoModeStep> previousStep);
 
  std::shared_ptr<ThunderAutoModeStep> getFirstStepOfBranch(std::shared_ptr<ThunderAutoModeStep> branchStep,
                                                            bool booleanCondition);
  std::shared_ptr<ThunderAutoModeStep> getFirstStepOfBranch(std::shared_ptr<ThunderAutoModeStep> branchStep,
                                                            int switchCondition);
 
  bool isRunnable(const ThunderAutoProject& project) const noexcept;
 
  driver::ThunderAutoMode* getHandle() noexcept;
  const driver::ThunderAutoMode* getHandle() const noexcept;
 
 private:
  friend class ThunderAutoProject;
 
  // Ownership is transferred to the constructed object.
  explicit ThunderAutoMode(driver::ThunderAutoMode* handle) noexcept;
 
 private:
  driver::ThunderAutoMode* m_handle = nullptr;
};
 
}  // namespace thunder