AnalysisManager.hpp

 
#pragma once
 
#include <memory>
#include <string>
#include <vector>
 
#include <pluginlib/class_loader.hpp>
#include <rclcpp/rclcpp.hpp>
#include <std_srvs/srv/empty.hpp>
 
#include "event_detector/AnalysisRule.hpp"
#include "event_detector/BufferManager.hpp"
#include "event_detector/common.hpp"
 
namespace event_detector {
 
class EventDetector;
 
class AnalysisManager {
 public:
  AnalysisManager(EventDetector* ed, std::shared_ptr<BufferManager> buffer, const double default_period);
 
  void toggleAnalysis(const bool enable_periodic, const bool enable_service);
 
 protected:
  void loadRules();
 
  void loadRule(const std::string& rule_name);
 
  void togglePeriodicAnalysis(const std::string& rule_name, const bool enable);
 
  void toggleAnalysisByService(const std::string& rule_name, const bool enable);
 
  bool isRuleEnabled(const std::string& rule_name);
 
  double loadRuleAnalysisPeriod(const std::string& rule_name);
 
  void runAnalysis(const std::string& rule_name);
 
 protected:
  EventDetector* ed_;
 
  std::shared_ptr<BufferManager> buffer_;
 
  std::shared_ptr<pluginlib::ClassLoader<AnalysisRule>> rule_loader_;
 
  double default_period_ = 1.0;
 
  std::map<std::string, rclcpp::TimerBase::SharedPtr> analysis_timers_;
 
  std::map<std::string, std::shared_ptr<AnalysisRule>> rules_;
 
  std::map<std::string, std::shared_ptr<rclcpp::Service<std_srvs::srv::Empty>>> trigger_services_;
};
 
}  // namespace event_detector