states.hpp

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#ifndef SUP_SYSSUP_COMMON_STATES_HPP
#define SUP_SYSSUP_COMMON_STATES_HPP
 
#include <boost/signals2.hpp>
#include <boost/bimap.hpp>
#include <boost/assign.hpp>
 
namespace ifw::sup::syssup::common {
 
   // State and substate definitions
   constexpr auto KEY_STATUS_SUBSYS_STATE       = "state";
   constexpr auto KEY_STATUS_SUBSYS_SUBSTATE    = "substate";
 
   constexpr auto STATE_UNDEFINED_STR           = "Undefined";
   constexpr auto STATE_NOT_OP_ERROR_STR        = "NotOpError";
   constexpr auto STATE_ERROR_STR               = "Error";
   constexpr auto STATE_OFF_STR                 = "Off";
   constexpr auto STATE_NOT_OPERATIONAL_STR     = "NotOperational";
   constexpr auto STATE_OPERATIONAL_STR         = "Operational";
 
   constexpr auto  SUBSTATE_NOTREADY_STR        = "NotReady";
   constexpr auto  SUBSTATE_INITIALISING_STR    = "Initialising";
   constexpr auto  SUBSTATE_READY_STR           = "Ready";
   constexpr auto  SUBSTATE_ENABLING_STR        = "Enabling";
   constexpr auto  SUBSTATE_RECOVERING_STR      = "Recovering";
   constexpr auto  SUBSTATE_IDLE_STR            = "Idle";
   constexpr auto  SUBSTATE_BUSY_STR            = "Busy";
 
   //FCF Substates
  constexpr auto  SUBSTATE_SETTING_UP_STR        = "SettingUp";
 
   //CCF Substates
   constexpr auto  SUBSTATE_NOT_RECORDING_STR    = "Acquiring";
   constexpr auto  SUBSTATE_RECORDING_STR        = "Recording";
   constexpr auto  SUBSTATE_REC_PAUSED_STR       = "RecPaused";
 
   //OCM Substate
   constexpr auto  SUBSTATE_ACTIVE_STR           = "Active";
 
   //RTC Substates
   constexpr auto  SUBSTATE_OPENLOOP_STR         = "OpenLoop";
   constexpr auto  SUBSTATE_CLOSEDLOOP_STR       = "ClosedLoop";

  struct State  {
  public:
 
    enum class StateEnum : short {
      OFF              = -8,
      UNDEFINED        = -7,
      NOT_OPERATIONAL = 1,
      OPERATIONAL = 2
    };
    enum class SubstateEnum : short {
      UNDEFINED        = 90,
      ERROR            = 95,
      NOT_OP_NOT_READY = 100,
      INITIALISING     = 101,
      NOT_OP_READY     = 102,
      ENABLING         = 103,
      RECOVERING       = 106,
      IDLE             = 110,
      BUSY             = 115,
       SETTING_UP       = 130,
       NOT_RECORDING    = 200,
       RECORDING        = 201,
       REC_PAUSED       = 202,
       ACTIVE           = 205,
       OPENLOOP         = 206,
       CLOSEDLOOP       = 207
     };
 
    using StateNumMap_t = boost::bimap<std::string, StateEnum>;
    using SubstateNumMap_t = boost::bimap<std::string, SubstateEnum>;
 
 
    //C++17 feature: you can define static members when they are inline.
    //Used BOOST bidirectional maps.
    inline static StateNumMap_t StateMap = boost::assign::list_of<State::StateNumMap_t::relation >
            ( STATE_OFF_STR,              StateEnum::OFF)
            ( STATE_UNDEFINED_STR,        StateEnum::UNDEFINED)
            ( STATE_NOT_OPERATIONAL_STR,  StateEnum::NOT_OPERATIONAL)
            ( STATE_OPERATIONAL_STR ,     StateEnum::OPERATIONAL);
 
    inline static SubstateNumMap_t SubstateMap = boost::assign::list_of<State::SubstateNumMap_t::relation >
              ( STATE_UNDEFINED_STR,          SubstateEnum::UNDEFINED)
              ( STATE_ERROR_STR,              SubstateEnum::ERROR)
              ( SUBSTATE_NOTREADY_STR,        SubstateEnum::NOT_OP_NOT_READY)
              ( SUBSTATE_INITIALISING_STR,    SubstateEnum::INITIALISING)
              ( SUBSTATE_READY_STR ,          SubstateEnum::NOT_OP_READY)
              ( SUBSTATE_ENABLING_STR,        SubstateEnum::ENABLING)
              ( SUBSTATE_RECOVERING_STR,      SubstateEnum::RECOVERING)
              ( SUBSTATE_IDLE_STR ,           SubstateEnum::IDLE)
              ( SUBSTATE_BUSY_STR ,           SubstateEnum::BUSY)
              ( SUBSTATE_SETTING_UP_STR ,     SubstateEnum::SETTING_UP)
              ( SUBSTATE_NOT_RECORDING_STR ,  SubstateEnum::NOT_RECORDING)
               ( SUBSTATE_RECORDING_STR ,      SubstateEnum::RECORDING)
               ( SUBSTATE_ACTIVE_STR ,         SubstateEnum::ACTIVE)
               ( SUBSTATE_OPENLOOP_STR ,       SubstateEnum::OPENLOOP)
               ( SUBSTATE_CLOSEDLOOP_STR ,     SubstateEnum::CLOSEDLOOP);
 

    inline static StateEnum GetState(const std::string& state);
    inline static std::optional<std::string> GetStateStr(const StateEnum state);
    inline static SubstateEnum GetSubstate(const std::string& substate);
    inline static std::optional<std::string> GetSubstateStr(const SubstateEnum substate);
 
  };
 
}
 
#include "states.ipp"
 
#endif //SUP_SYSSUP_COMMON_STATES_HPP