afactory.h

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/********************************************************************************
 * Copyright (C) 2017-2023 German Aerospace Center (DLR).
 * Eclipse ADORe, Automated Driving Open Research https://eclipse.org/adore
 *
 * This program and the accompanying materials are made available under the
 * terms of the Eclipse Public License 2.0 which is available at
 * http://www.eclipse.org/legal/epl-2.0.
 *
 * SPDX-License-Identifier: EPL-2.0
 *
 * Contributors:
 *   Daniel Heß - initial API and implementation
 ********************************************************************************/
 
#pragma once
 
#include <adore/fun/gearselectioncommand.h>
#include <adore/fun/indicatorcommand.h>
#include <adore/fun/missiondata.h>
#include <adore/fun/motioncommand.h>
#include <adore/view/navigationgoal.h>
#include <adore/fun/setpointrequest.h>
#include <adore/fun/terminalrequest.h>
#include <adore/fun/vehiclebasemeasurement.h>
#include <adore/fun/vehicleextendedstate.h>
#include <adore/fun/vehiclemotionstate9d.h>
#include <adore/fun/tac/planning_result.h>
#include <adore/fun/tac/planning_request.h>
#include <adore/mad/com_patterns.h>
#include <adore/fun/platooningInformation.h>
 
namespace adore
{
    namespace fun
    {
        class AFactory
        {
      public:
      typedef adore::mad::AReader<NavigationGoal> TNavigationGoalReader;
      typedef adore::mad::AReader<SetPointRequest> TSetPointRequestReader;
      typedef adore::mad::AWriter<SetPointRequest> TSetPointRequestWriter;
      typedef adore::mad::AReader<VehicleMotionState9d> TMotionStateReader;
      typedef adore::mad::AFeed<VehicleMotionState9d> TMotionStateFeed;
      typedef adore::mad::AReader<TerminalRequest> TTerminalRequestReader;
      typedef adore::mad::AWriter<TerminalRequest> TTerminalRequestWriter;
      typedef adore::mad::AWriter<MotionCommand> TMotionCommandWriter;
      typedef adore::mad::AReader<MotionCommand> TMotionCommandReader;
      typedef adore::mad::AWriter<GearSelectionCommand> TGearSelectionCommandWriter;
      typedef adore::mad::AReader<GearSelectionCommand> TGearSelectionCommandReader;
      typedef adore::mad::AWriter<IndicatorCommand> TIndicatorCommandWriter;
      typedef adore::mad::AReader<IndicatorCommand> TIndicatorCommandReader;
      typedef adore::mad::AReader<VehicleExtendedState> TVehicleExtendedStateReader;
      typedef adore::mad::AWriter<VehicleExtendedState> TVehicleExtendedStateWriter;
      typedef adore::mad::AWriter<VehicleBaseMeasurement> TVehicleBaseMeasurementWriter;
      typedef adore::mad::AWriter<PlanningResult> TPlanningResultWriter;
      typedef adore::mad::AFeed<PlanningResult> TPlanningResultFeed;
      typedef adore::mad::AWriter<PlanningRequest> TPlanningRequestWriter; 
      typedef adore::mad::AFeedWithCallback<PlanningRequest> TPlanningRequestTrigger;
      typedef adore::mad::AWriter<MissionData> TMissionDataWriter;
      typedef adore::mad::AReader<MissionData> TMissionDataReader;
      typedef adore::mad::AReader<PlatooningInformation> TPlatooningStateReader;
      typedef adore::mad::AWriter<PlatooningInformation> TPlatooningStateWriter;
      typedef adore::mad::AReader<bool> TLanechangeSuppressionReader;
      typedef adore::mad::AReader<bool> TForceLanechangeLeftReader; 
      typedef adore::mad::AReader<bool> TForceLanechangeRightReader; 
      typedef adore::mad::AReader<bool> TForceSlowManeuversReader;
 
 
          public:
            virtual TNavigationGoalReader* getNavigationGoalReader()=0;
            virtual TSetPointRequestReader* getSetPointRequestReader()=0;
            virtual TSetPointRequestWriter* getSetPointRequestWriter()=0;
            virtual TSetPointRequestReader* getNominalTrajectoryReader()=0;
            virtual TSetPointRequestWriter* getNominalTrajectoryWriter()=0;
            virtual TSetPointRequestReader* getOdomSetPointRequestReader()=0;
            virtual TSetPointRequestWriter* getOdomSetPointRequestWriter()=0;
            virtual TTerminalRequestReader* getTerminalRequestReader()=0;
            virtual TTerminalRequestWriter* getTerminalRequestWriter()=0;
            virtual TMotionCommandWriter* getMotionCommandWriter()=0;
            virtual TMotionCommandReader* getMotionCommandReader()=0;
            virtual TGearSelectionCommandWriter* getGearSelectionCommandWriter()=0;
            virtual TGearSelectionCommandReader* getGearSelectionCommandReader()=0;
            virtual TIndicatorCommandWriter* getIndicatorCommandWriter()=0;
            virtual TIndicatorCommandReader* getIndicatorCommandReader()=0;
            virtual TMotionStateReader* getVehicleMotionStateReader()=0;
            virtual TMotionStateReader* getVehicleOdometryMotionStateReader()=0;
            virtual TMotionStateFeed* getVehicleOdometryMotionStateFeed()=0;
            virtual TMotionStateFeed* getVehicleLocalizationMotionStateFeed()=0;
            virtual TVehicleExtendedStateReader* getVehicleExtendedStateReader()=0;
            virtual TVehicleExtendedStateWriter* getVehicleExtendedStateWriter()=0;
            virtual TVehicleBaseMeasurementWriter* getVehicleBaseMeasurementWriter()=0;
            virtual TPlanningResultWriter* getPlanningResultWriter()=0;
            virtual TPlanningResultFeed* getPlanningResultFeed()=0;
            virtual TPlanningResultWriter* getPlanningSelectWriter()=0;
            virtual TPlanningResultFeed* getPlanningSelectFeed()=0;
            virtual TPlanningRequestWriter* getPlanningRequestWriter()=0;
      virtual TPlanningRequestTrigger* getPlanningRequestTrigger()=0;
            virtual TMissionDataWriter* getMissionDataWriter()=0;
            virtual TMissionDataReader* getMissionDataReader()=0;
            virtual TPlatooningStateReader* getPlatooningStateReader()=0;
            virtual TPlatooningStateWriter* getPlatooningStateWriter()=0;    
      //read lanechange suppression msgs
      virtual TLanechangeSuppressionReader* getLanechangeSuppressionReader()=0;
      //read force lanechange left  msgs
      virtual TForceLanechangeLeftReader*  getForceLanechangeLeftReader()=0; 
      //read force lanechange right msgs
      virtual TForceLanechangeRightReader* getForceLanechangeRightReader()=0; 
      //read force slow maneuvers msgs
      virtual TForceSlowManeuversReader* getForceSlowManeuversReader()=0; 
    };
 
 
        class FunFactoryInstance final
        {
          private:
            adore::fun::AFactory* funFactory_ = 0;
 
            static FunFactoryInstance& getInstance()
            {
                static FunFactoryInstance instance;
                return instance;
            }
 
          public:
            static adore::fun::AFactory* get()
            {
                if (getInstance().funFactory_ == 0)
                {
                    std::cerr << " WARNING Accessing singleton funFactory instance without ever running init()"
                              << std::endl;
                }
                return getInstance().funFactory_;
            }
 
            static void init(adore::fun::AFactory* funFactory)
            {
                auto& instance = getInstance();
                instance.funFactory_ = funFactory;
            }
 
          private:
            FunFactoryInstance() = default;
            ~FunFactoryInstance() = default;
 
            FunFactoryInstance(const FunFactoryInstance&) = delete;
            FunFactoryInstance& operator=(const FunFactoryInstance&) = delete;
            FunFactoryInstance(FunFactoryInstance&&) = delete;
            FunFactoryInstance& operator=(FunFactoryInstance&&) = delete;
        };
 
    }  // namespace fun
}  // namespace adore