OdometerOutputHandler.h

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/*
Copyright 2007-2025. Algoryx Simulation AB.
 
All AGX source code, intellectual property, documentation, sample code,
tutorials, scene files and technical white papers, are copyrighted, proprietary
and confidential material of Algoryx Simulation AB. You may not download, read,
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material unless having a written signed agreement with Algoryx Simulation AB, or having been
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valid commercial license from Algoryx Simulation AB.
 
Algoryx Simulation AB disclaims all responsibilities for loss or damage caused
from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
#pragma once
#include <agxSensor/OdometerOutput.h>
#include <agxSensor/MonoaxialGaussianNoise.h>
#include <agxSensor/MonoaxialSignalResolution.h>
#include <agxSensor/MonoaxialSignalScaling.h>
#include <agxSensor/SensorOutputHandler.h>
 
#include <optional>
#include <utility>
 
namespace agxSensor
{
  using OptionalUniqueId = std::optional<size_t>;
  using OptionalOdometerOutputMapping = std::optional<std::pair<size_t, OdometerOutput*>>;
 
  AGX_DECLARE_POINTER_TYPES( OdometerOutputHandler );
 
  class AGXSENSOR_EXPORT OdometerOutputHandler : public SystemNode, public ISensorOutputHandler
  {
    public:
      OdometerOutputHandler();
 
      bool add( size_t uniqueId, OdometerOutput* output );
 
      OptionalUniqueId add( OdometerOutput* output );
 
      template<typename T, OdometerOutput::Field... field>
      bool add( size_t uniqueId );
 
      template<typename T, OdometerOutput::Field... field>
      OptionalOdometerOutputMapping add();
 
      OdometerOutput* get( size_t uniqueId );
 
      ISensorOutput* getBase( size_t uniqueId ) override;
 
      bool add( MonoaxialGaussianNoise* noise );
 
      bool remove( MonoaxialGaussianNoise* noise );
 
      bool contains( const MonoaxialGaussianNoise* noise ) const;
 
      bool add( MonoaxialSignalResolution* resolution );
 
      bool remove( MonoaxialSignalResolution* resolution );
 
      bool contains( const MonoaxialSignalResolution* resolution ) const;
 
      bool add( MonoaxialSignalScaling* scaling );
 
      bool remove( MonoaxialSignalScaling* scaling );
 
      bool contains( const MonoaxialSignalScaling* scaling ) const;
 
      IMonoaxialSignalSystemNodeRefVector getOutputModifiers() const;
 
      DOXYGEN_START_INTERNAL_BLOCK()
 
    public:
      virtual void synchronize( const CallbackData& data ) override;
      virtual void cleanup() override;
 
      AGXSTREAM_DECLARE_SERIALIZABLE( agxSensor::OdometerOutputHandler );
 
    protected:
      using OutputTable = agx::HashTable<size_t, OdometerOutputRef>;
 
    protected:
      bool addModifierInternal( IMonoaxialSignalSystemNode* node );
      bool removeModifierInternal( IMonoaxialSignalSystemNode* node );
      bool containsModifierInternal( const IMonoaxialSignalSystemNode* node ) const;
 
      DOXYGEN_END_INTERNAL_BLOCK()
 
    protected:
      OutputTable m_outputs;
      MonoaxialSignalSystemNodeRefVector m_outputModifiers;
      SystemNodeRef m_signalAssembler;
      MonoaxialSignalScalingRef m_wheelScaler;
      SystemNodeRef m_tailNode;
  };
 
  template<typename T, OdometerOutput::Field... field>
  bool OdometerOutputHandler::add( size_t uniqueId )
  {
    OdometerOutputRef output = new OdometerOutput();
    output->build<field...>();
    return add( uniqueId, output );
  }
 
  template<typename T, OdometerOutput::Field... field>
  OptionalOdometerOutputMapping OdometerOutputHandler::add()
  {
    OdometerOutputRef output = new OdometerOutput();
    output->build<field...>();
 
    auto uniqueId = add( output );
    if ( uniqueId )
      return std::make_pair( *uniqueId, output );
    else
      return std::nullopt;
  }
}