dwVehicleStateDrainer.hpp

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#ifndef DW_FRAMEWORK_VEHICLE_STATE_DRAINER_HPP_
#define DW_FRAMEWORK_VEHICLE_STATE_DRAINER_HPP_
 
#include <dwframework/dwnodes/sensors/dwsensornode/dwSensorDrainerTemplate.hpp>
#include <dwframework/dwnodes/sensors/dwvehiclestatenode/impl/dwVehicleStateNodeImpl.hpp>
#include <dwframework/dwnodes/sensors/dwvehiclestatenode/impl/dwVehicleStateChannelNodeImpl.hpp>
 
#include <dw/sensors/Sensors.h>
#include <dw/core/base/Types.h>
 
namespace dw
{
namespace framework
{
class dwVehicleStateDrainer : public dwSensorDrainerTemplate<dwVehicleIOState, vio::ReadProcessedData>
{
public:
    dwVehicleStateDrainer(dwSensorDrainerParams params, std::unique_ptr<vio::ReadProcessedData> readProcessedDataFunc, dwSensorHandle_t sensor)
        : dwSensorDrainerTemplate<dwVehicleIOState, vio::ReadProcessedData>(params, std::move(readProcessedDataFunc), sensor)
    {
    }
 
    dwStatus drainProcessedData(dwVehicleIOState* processedOutput,
                                dwTime_t& timestampOutput,
                                dwTime_t& nextTimestampOutput,
                                dwTime_t virtualSyncTime)
    {
        m_readProcessedDataFunc->clearButtonsPressed();
 
        dwStatus status = dwSensorDrainerTemplate<dwVehicleIOState, vio::ReadProcessedData>::
            drainProcessedData(processedOutput,
                               timestampOutput,
                               nextTimestampOutput,
                               virtualSyncTime);
 
        m_readProcessedDataFunc->getButtonsPressed(*processedOutput);
 
        return status;
    }
 
    dwStatus replayProcessedData(dwVehicleIOState* processedOutput,
                                 dwTime_t& timestampOutput,
                                 ISensorNode::DataEventReadCallback readCb)
    {
        m_readProcessedDataFunc->clearButtonsPressed();
 
        dwStatus status = dwSensorDrainerTemplate<dwVehicleIOState, vio::ReadProcessedData>::
            replayProcessedData(processedOutput,
                                timestampOutput,
                                std::move(readCb));
 
        m_readProcessedDataFunc->getButtonsPressed(*processedOutput);
 
        return status;
    }
};
 
class dwVehicleStateChannelDrainer : public dwChannelDrainerTemplate<dwVehicleIOState, vio::ReadProcessedVehicleStateDataFromChannel>
{
    using InputPort = PortInput<dwVehicleIOState>*;
 
public:
    dwVehicleStateChannelDrainer(dwSensorDrainerParams params, std::unique_ptr<vio::ReadProcessedVehicleStateDataFromChannel> readProcessedDataFunc, InputPort inputPort)
        : dwChannelDrainerTemplate<dwVehicleIOState, vio::ReadProcessedVehicleStateDataFromChannel>(params, std::move(readProcessedDataFunc), inputPort)
    {
    }
 
    dwStatus drainProcessedData(dwVehicleIOState* processedOutput,
                                dwTime_t& timestampOutput,
                                dwTime_t& nextTimestampOutput,
                                dwTime_t virtualSyncTime)
    {
        m_readProcessedDataFunc->clearButtonsPressed();
 
        dwStatus status = dwChannelDrainerTemplate<dwVehicleIOState, vio::ReadProcessedVehicleStateDataFromChannel>::
            drainProcessedData(processedOutput,
                               timestampOutput,
                               nextTimestampOutput,
                               virtualSyncTime);
 
        m_readProcessedDataFunc->getButtonsPressed(*processedOutput);
 
        return status;
    }
};
}
}
 
#endif // DW_FRAMEWORK_VEHICLE_STATE_DRAINER_HPP_