RobustnessCoordinator.h

/*
 * Synthesis-based resolution of features/enforcers interactions in CPS
 * Copyright 2020 Carnegie Mellon University.
 * NO WARRANTY. THIS CARNEGIE MELLON UNIVERSITY AND SOFTWARE ENGINEERING
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 * AS TO ANY MATTER INCLUDING, BUT NOT LIMITED TO, WARRANTY OF FITNESS FOR
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 * INFRINGEMENT.
 * Released under a BSD (SEI)-style license, please see license.txt or contact
 * permission@sei.cmu.edu for full terms.
 * [DISTRIBUTION STATEMENT A] This material has been approved for public
 * release and unlimited distribution.  Please see Copyright notice for
 * non-US Government use and distribution.
 * This Software includes and/or makes use of the following Third-Party Software
 * subject to its own license:
 * 1. JsonCpp
 * (https://github.com/open-source-parsers/jsoncpp/blob/master/LICENSE)
 * Copyright 2010 Baptiste Lepilleur and The JsonCpp Authors.
 * DM20-0762
 */

#ifndef MISSIONAPP_ROBUSTNESS_COORDINATOR_H
#define MISSIONAPP_ROBUSTNESS_COORDINATOR_H

#include "Coordinator.h"
#include "StlEnforcer.h"
#include <map>

namespace cdra {

    class RobustnessCoordinator : public Coordinator {

        // Weights of the enforcers
        std::map<StlEnforcer*, float> weights;

    public:
        RobustnessCoordinator(std::shared_ptr<dronecode_sdk::Offboard> offboard,
			      std::shared_ptr<dronecode_sdk::Telemetry> telemetry,
			      std::shared_ptr<StateStore> store);
        ~RobustnessCoordinator();
        void addEnforcer(std::shared_ptr<cdra::Enforcer> e, float weight);
        void sendVelocityNed(const dronecode_sdk::Offboard::VelocityNEDYaw& velocity_ned_yaw);
    };
}

#endif //MISSIONAPP_ROBUSTNESS_COORDINATOR_H