driver_manager.hpp

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#pragma once
 
/*
 * Copyright (C) 2023 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 <carma_planning_msgs/msg/plugin.hpp>
#include <carma_planning_msgs/srv/get_plugin_api.hpp>
#include <carma_planning_msgs/srv/plugin_list.hpp>
#include <carma_planning_msgs/srv/plugin_activation.hpp>
#include <ros2_lifecycle_manager/lifecycle_manager_interface.hpp>
#include <unordered_set>
#include <functional>
#include <vector>
#include <memory>
#include <chrono>
#include <rmw/types.h>
#include <map>
#include "entry_manager.hpp"
#include "entry.hpp"
#include <carma_driver_msgs/msg/driver_status.hpp>
#include <carma_msgs/msg/system_alert.hpp>
#include <gtest/gtest_prod.h>
 
 
namespace subsystem_controllers
{
 
    class DriverManager
    {
        public:
 
        DriverManager();
 
        DriverManager(const std::vector<std::string>& critical_driver_names,
                        const std::vector<std::string>& camera_entries,
                        const long driver_timeout);
 
 
        void update_driver_status(const carma_driver_msgs::msg::DriverStatus::SharedPtr msg, long current_time);
 
        std::string are_critical_drivers_operational(long current_time);
 
        void evaluate_sensor(int &sensor_input,bool available,long current_time,long timestamp,long driver_timeout);
 
        carma_msgs::msg::SystemAlert handle_spin(long time_now,long start_up_timestamp,long startup_duration);
 
        protected:
 
        //list of critical drivers
        std::vector<std::string> critical_drivers_;
 
        //list of camera entries
        std::vector<std::string> camera_entries_;
 
        std::shared_ptr<EntryManager> em_;  
 
        // timeout for critical driver timeout in milliseconds
        long driver_timeout_ = 1000; 
 
        bool starting_up_ = true;
 
        FRIEND_TEST(DriverManagerTest, testCarTruckHandleSpinFatalUnknown);
 
    };
}