GeofenceSchedule.hpp

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#pragma once
/*
 * Copyright (C) 2022 LEIDOS.
 *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */
#include <unordered_set>
#include <boost/date_time/gregorian/greg_weekday.hpp>
#include <boost/date_time/gregorian/greg_date.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rclcpp/duration.hpp>
#include <lanelet2_extension/time/TimeConversion.h>
 
namespace carma_wm_ctrl
{
class GeofenceSchedule
{
public:
  rclcpp::Time schedule_start_;  // Overall schedule start
  rclcpp::Time schedule_end_;    // Overall schedule end
 
  rclcpp::Duration control_start_{0, 0};     // Duration from start of day
  rclcpp::Duration control_duration_{0, 0};    // Duration from start of control_start
  rclcpp::Duration control_offset_{0, 0};       // Duration from start of day (specifies start time for repeat parameters - span period)
  rclcpp::Duration control_span_{0, 0};         // Duration of active status. Starts from offset
  rclcpp::Duration control_period_{0, 0};       // Interval between active status within control_duration since control_start
 
  using DayOfTheWeekSet =
      std::unordered_set<boost::gregorian::greg_weekday, std::hash<int>>;  // Set of week days where geofence is active.
                                                                           // Uses int hashing function
  DayOfTheWeekSet week_day_set_;  // NOTE: If no day of the week is included then all should be
 
  GeofenceSchedule();
 
  GeofenceSchedule(rclcpp::Time schedule_start, rclcpp::Time schedule_end, rclcpp::Duration control_start,
                   rclcpp::Duration control_duration, rclcpp::Duration control_offset, rclcpp::Duration control_span, rclcpp::Duration control_period,
                   DayOfTheWeekSet week_day_set = { 0, 1, 2, 3, 4, 5, 6 });  // Include all weekdays as default (0-6) ->
                                                                             // (Sun-Sat)
 
  bool scheduleExpired(const rclcpp::Time& time) const;
 
  bool scheduleStarted(const rclcpp::Time& time) const;
 
  std::pair<bool, rclcpp::Time> getNextInterval(const rclcpp::Time& time) const;
};
}  // namespace carma_wm_ctrl