TargetStatus.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    view_selection::ArmarXObjects::objects
 * @author     Johann Mantel ( j-mantel at gmx dot net )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <SimoxUtility/meta/enum/EnumNames.hpp>
 
namespace armarx::view_selection::gaze_targets
{
    /**
     * @brief The lifecycle state of a gaze target, as observed by the gaze scheduler.
     *
     * Requested/Scheduled/Reached/Preempted are transient, Released/Aborted are terminal.
     *
     * Released and Aborted are the success/failure split: a target that had been reached before it
     * left the queue ends as Released -- the caller got what it asked for, even though another
     * target owns the head now.  A target bumped before the gaze ever settled ends as Aborted.
     */
    enum class TargetStatus
    {
        /// admitted to the scheduler's queue, waiting for scheduling
        Requested,
        /// submitted to the low-level controller
        Scheduled,
        /// the gaze residual settled below the threshold
        Reached,
        /// lost the active slot but stays in the queue and may be scheduled again
        Preempted,
        /// left the queue having been reached (duration elapsed, or superseded afterwards)
        Released,
        /// left the queue without ever being reached, or the target is out of reach
        Aborted
    };
 
    inline const simox::meta::EnumNames<TargetStatus> TargetStatusNames{
        {TargetStatus::Requested, "Requested"},
        {TargetStatus::Scheduled, "Scheduled"},
        {TargetStatus::Reached, "Reached"},
        {TargetStatus::Preempted, "Preempted"},
        {TargetStatus::Released, "Released"},
        {TargetStatus::Aborted, "Aborted"}};
 
    /// Whether the status is terminal, i.e. the target has left the scheduler's queue for good.
    inline bool
    isTerminal(const TargetStatus status)
    {
        return status == TargetStatus::Released or status == TargetStatus::Aborted;
    }
 
} // namespace armarx::view_selection::gaze_targets