GazeTargetStatus.h

Go to the documentation of this file.

#pragma once
 
#include <iosfwd>
#include <string>
 
#include <ArmarXCore/core/time/DateTime.h>
 
#include <RobotAPI/libraries/armem/core/MemoryID.h>
 
#include <armarx/view_selection/gaze_targets/TargetStatus.h>
 
namespace armarx::view_selection::gaze_targets
{
    /**
     * @brief Business Object (BO) class of GazeTargetStatus: the lifecycle of one gaze target
     * request, as observed and published by the gaze scheduler.
     *
     * A request (GazeTarget) is owned by whoever commits it; this status is owned by the scheduler
     * and lives in its own core segment, keyed the same way.  Every transition publishes a new
     * snapshot carrying all timestamps accumulated so far, so the latest snapshot is the complete
     * lifecycle and the snapshot history is the event stream.
     */
    class GazeTargetStatus
    {
    public:
        /// The gaze target request snapshot this status refers to.  Disambiguates concurrent
        /// targets that share an entity name.
        armarx::armem::MemoryID gazeTargetID;
 
        TargetStatus status = TargetStatus::Requested;
 
        armarx::DateTime creationTimestamp = armarx::DateTime::Invalid();
 
        armarx::DateTime activationTimestamp = armarx::DateTime::Invalid();
 
        armarx::DateTime reachedTimestamp = armarx::DateTime::Invalid();
 
        /// Most recent preemption, if any.
        armarx::DateTime preemptedTimestamp = armarx::DateTime::Invalid();
 
        armarx::DateTime releasedTimestamp = armarx::DateTime::Invalid();
 
        armarx::DateTime abortedTimestamp = armarx::DateTime::Invalid();
 
        /// Angle between the gaze ray and the direction to the target at the transition [rad].
        float angularError = 0.F;
 
        /// Lateral miss distance at target range at the transition [mm].
        float lateralError = 0.F;
 
        /// Reason, for the terminal states.  Empty otherwise.
        std::string message;
 
        /**
         * @brief Whether the gaze was fixed on this target at some point.
         *
         * This is the success criterion, not `status == Reached`: a target that was reached and
         * then superseded reports Released, and a client that only sees that last snapshot must
         * still consider its request fulfilled.
         */
        bool wasReached() const;
 
        /// Whether the target has left the scheduler's queue for good.
        bool isTerminal() const;
    };
 
    ::std::ostream& operator<<(::std::ostream& os, const GazeTargetStatus& status);
 
} // namespace armarx::view_selection::gaze_targets