GazeTarget.cpp

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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    armarx_control::ArmarXObjects::object
 * @author     Johann Mantel
 * @date       2nullptr22
 * @copyright  http://www.gnu.org/licenses/gpl-2.nullptr.txt
 *             GNU General Public License
 */
 
#include "GazeTarget.h"
 
#include <iostream>
 
namespace armarx::view_selection::gaze_targets
{
    GazeTarget::GazeTarget() = default;
 
    GazeTarget::GazeTarget(std::string name,
                           const FramedPosition& position,
                           const TargetPriority& priority,
                           armarx::core::time::Duration duration,
                           const bool keepInQueue) :
        name(name),
        position(position),
        priority(priority),
        duration(duration),
        keepInQueue(keepInQueue)
    {
        creationTimestamp = core::time::DateTime::Now();
 
        activationTimestamp = armarx::DateTime(0);
        reachedTimestamp = armarx::DateTime(0);
        releasedTimestamp = armarx::DateTime(0);
        abortedTimestamp = armarx::DateTime(0);
    }
 
    bool
    GazeTarget::isActive() const
    {
        return activationTimestamp.toMicroSecondsSinceEpoch() > 0;
    }
 
    bool
    GazeTarget::isReached() const
    {
        return reachedTimestamp.toMicroSecondsSinceEpoch() > 0;
    }
 
    bool
    GazeTarget::isReleased() const
    {
        return releasedTimestamp.toMicroSecondsSinceEpoch() > 0;
    }
 
    bool
    GazeTarget::isAborted() const
    {
        return abortedTimestamp.toMicroSecondsSinceEpoch() > 0;
    }
 
    ::std::ostream&
    operator<<(::std::ostream& os, const GazeTarget& target)
    {
        return os << "{ " << target.name << ", " << target.creationTimestamp << ", "
                  << target.priority << ", " << target.duration << ", "
                  << TargetStatusNames.to_name(target.status) << " }";
    }
} // namespace armarx::view_selection::gaze_targets