state.hpp

// Copyright (C) 2024 Avular Holding B.V. - All Rights Reserved
// You may use this code under the terms of the Avular
// Software End-User License Agreement.
//
// You should have received a copy of the Avular
// Software End-User License Agreement license with
// this file, or download it from: avular.com/eula
//
/*****************************************************************************
 * Created on: 2024 October 16
 * Author: Niels Rood
 *
 * @file Messages representing the overall state of the robot
 ****************************************************************************/
#pragma once
 
#include <nlohmann/json.hpp>
#include <string>
#include <variant>
 
#include "generic.hpp"
 
namespace creos_messages {
 
struct State {
    enum class Ready {
        kUnknown = -1,  
        kNotReady,      
        kPreArm,  
        kActive,    
        kWaiting,   
        kFailsafe,  
        kError,  
    };
 
    creos::RobotClock::time_point time;
 
    Ready ready_state = Ready::kUnknown;
 
    std::string current_action;
 
    auto operator<=>(const State& other) const = default;
};
 
NLOHMANN_JSON_SERIALIZE_ENUM(State::Ready, {
                                               {State::Ready::kUnknown, "unknown"},
                                               {State::Ready::kNotReady, "not_ready"},
                                               {State::Ready::kPreArm, "pre_arm"},
                                               {State::Ready::kActive, "active"},
                                               {State::Ready::kWaiting, "waiting"},
                                               {State::Ready::kFailsafe, "failsafe"},
                                               {State::Ready::kError, "error"},
                                           })
 
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(State, time, ready_state, current_action)
 
}  // namespace creos_messages