StatusPublisherInterface.h

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#pragma once
 
#include <string>
 
#include <ArmarXCore/core/time/DateTime.h>
 
#include <RobotAPI/libraries/armem/core/MemoryID.h>
 
#include <armarx/view_selection/gaze_controller/gaze_residual.h>
 
namespace armarx::view_selection::gaze_scheduler
{
 
    /**
     * @brief Publishes the lifecycle of gaze targets.
     *
     * The seam keeps the Scheduler itself free of the memory (mirroring navigation's
     * server::EventPublishingInterface), so its queue logic can be tested without one.
     *
     * Targets are addressed by the memory ID of the request they came from -- which pins the
     * requester, the target name *and* the exact snapshot, so two targets scheduled at the same
     * time under one name stay distinguishable.
     */
    class StatusPublisherInterface
    {
    public:
        virtual ~StatusPublisherInterface() = default;
 
        /// Admitted to the scheduler's queue.
        virtual void requested(const armem::MemoryID& gazeTargetID,
                               const armarx::DateTime& creationTimestamp) = 0;
 
        /// Submitted to the low-level controller.
        virtual void scheduled(const armem::MemoryID& gazeTargetID) = 0;
 
        /// The gaze settled on the target.
        virtual void reached(const armem::MemoryID& gazeTargetID,
                             const gaze_controller::GazeResidual& residual) = 0;
 
        /// Lost the active slot but stays in the queue.  Not terminal.
        virtual void preempted(const armem::MemoryID& gazeTargetID, const std::string& reason) = 0;
 
        /// Left the queue having been reached.  Terminal, and a success for whoever asked.
        virtual void released(const armem::MemoryID& gazeTargetID, const std::string& reason) = 0;
 
        /// Left the queue without ever being reached.  Terminal, and a failure.
        virtual void aborted(const armem::MemoryID& gazeTargetID, const std::string& reason) = 0;
 
        /**
         * @brief Whether this target was reached at any point.
         *
         * This is what separates `released` from `aborted` when a target stops being active, so it
         * is answered from the same accumulated lifecycle that gets published -- not from the
         * scheduler's queue, which may no longer hold the target at all.
         */
        virtual bool wasReached(const armem::MemoryID& gazeTargetID) const = 0;
    };
 
} // namespace armarx::view_selection::gaze_scheduler