Event decorator - adds event-driven feedback capabilities to any integrator. More...

#include <event_decorator.hpp>

Inheritance diagram for diffeq::core::composable::EventDecorator< S, T >:

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Collaboration diagram for diffeq::core::composable::EventDecorator< S, T >:

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Public Member Functions
	EventDecorator (std::unique_ptr< AbstractIntegrator< S, T > > integrator, EventConfig config={})
	Construct event decorator.

	~EventDecorator ()
	Destructor ensures proper cleanup.

void	step (typename IntegratorDecorator< S, T >::state_type &state, T dt) override
	Override step to handle events during integration.

void	integrate (typename IntegratorDecorator< S, T >::state_type &state, T dt, T end_time) override
	Override integrate to handle events during integration.

void	register_event_handler (EventTrigger trigger, std::function< void(S &, T)> handler)
	Register event handler for specific trigger type.

void	trigger_event (const std::string &event_id, EventPriority priority, std::function< void(S &, T)> handler, std::vector< uint8_t > data={})
	Trigger custom event.

void	submit_sensor_data (const std::string &sensor_id, const std::vector< double > &values, double confidence=1.0)
	Submit sensor data.

void	submit_control_feedback (const std::string &control_id, const S &target_state, const S &current_state)
	Submit control feedback.

void	set_state_condition (std::function< bool(const S &, T)> condition, std::function< void(S &, T)> handler, EventPriority priority=EventPriority::NORMAL)
	Set state-based event condition.

void	set_threshold_event (size_t state_index, double threshold, bool crossing_direction, std::function< void(S &, T)> handler)
	Set threshold crossing event.

const EventStats &	get_statistics () const
	Get event statistics.

void	reset_statistics ()
	Reset event statistics.

const std::vector< Event< S, T > > &	get_event_history () const
	Get event history.

void	clear_event_history ()
	Clear event history.

std::map< std::string, SensorData< T > >	get_sensor_data () const
	Get current sensor data.

std::map< std::string, ControlFeedback< S, T > >	get_control_feedback () const
	Get current control feedback.

EventConfig &	config ()
	Access and modify event configuration.

const EventConfig &	config () const

Public Member Functions inherited from diffeq::core::composable::IntegratorDecorator< S >
	IntegratorDecorator (std::unique_ptr< base_type > integrator)
	Construct decorator wrapping another integrator.

virtual	~IntegratorDecorator ()=default
	Virtual destructor for proper cleanup.

void	step (state_type &state, time_type dt) override

void	integrate (state_type &state, time_type dt, time_type end_time) override

time_type	current_time () const override

void	set_time (time_type t) override

void	set_system (system_function sys) override

base_type &	wrapped ()
	Access to wrapped integrator for advanced use.

const base_type &	wrapped () const

bool	has_wrapped_integrator () const
	Check if wrapped integrator exists.

Public Member Functions inherited from diffeq::core::AbstractIntegrator< S >
	AbstractIntegrator (system_function sys)

time_type	current_time () const

void	set_time (time_type t)

void	set_system (system_function sys)

Additional Inherited Members
Public Types inherited from diffeq::core::composable::IntegratorDecorator< S >
using	base_type = AbstractIntegrator< S >

using	state_type = typename base_type::state_type

using	time_type = typename base_type::time_type

using	system_function = typename base_type::system_function

Public Types inherited from diffeq::core::AbstractIntegrator< S >
using	state_type = S

using	time_type = typename S::value_type

using	value_type = typename S::value_type

using	system_function = std::function< void(time_type, const state_type &, state_type &)>

Protected Member Functions inherited from diffeq::core::AbstractIntegrator< S >
void	advance_time (time_type dt)

Protected Attributes inherited from diffeq::core::composable::IntegratorDecorator< S >
std::unique_ptr< base_type >	wrapped_integrator_

Protected Attributes inherited from diffeq::core::AbstractIntegrator< S >
system_function	sys_

time_type	current_time_

Detailed Description

template<system_state S, can_be_time T = double>
class diffeq::core::composable::EventDecorator< S, T >

Event decorator - adds event-driven feedback capabilities to any integrator.

This decorator provides comprehensive event-driven capabilities with the following features:

Multiple event trigger types (time, state, sensor, control)
Priority-based event processing
Real-time constraints and timing guarantees
Sensor data integration and validation
Control loop feedback mechanisms
Asynchronous event processing

Key Design Principles:

Single Responsibility: ONLY handles event-driven feedback
Real-time: Designed for robotics and control applications
Flexible: Multiple trigger types and processing modes
Robust: Timeout handling and error recovery

Definition at line 237 of file event_decorator.hpp.

Constructor & Destructor Documentation

◆ EventDecorator()

template<system_state S, can_be_time T = double>

diffeq::core::composable::EventDecorator< S, T >::EventDecorator	(	std::unique_ptr< AbstractIntegrator< S, T > >	integrator,
		EventConfig	config = `{}`
	)

inlineexplicit

Construct event decorator.

Parameters

integrator	The integrator to wrap
config	Event configuration (validated on construction)

Exceptions

std::invalid_argument if config is invalid

Definition at line 270 of file event_decorator.hpp.

◆ ~EventDecorator()

template<system_state S, can_be_time T = double>

diffeq::core::composable::EventDecorator< S, T >::~EventDecorator ( )

inline

Destructor ensures proper cleanup.

Definition at line 289 of file event_decorator.hpp.

Member Function Documentation

◆ clear_event_history()

template<system_state S, can_be_time T = double>

void diffeq::core::composable::EventDecorator< S, T >::clear_event_history ( )

inline

Clear event history.

Definition at line 474 of file event_decorator.hpp.

◆ config() [1/2]

template<system_state S, can_be_time T = double>

EventConfig & diffeq::core::composable::EventDecorator< S, T >::config ( )

inline

Access and modify event configuration.

Definition at line 497 of file event_decorator.hpp.

◆ config() [2/2]

template<system_state S, can_be_time T = double>

const EventConfig & diffeq::core::composable::EventDecorator< S, T >::config ( ) const

inline

Definition at line 498 of file event_decorator.hpp.

◆ get_control_feedback()

template<system_state S, can_be_time T = double>

std::map< std::string, ControlFeedback< S, T > > diffeq::core::composable::EventDecorator< S, T >::get_control_feedback ( ) const

inline

Get current control feedback.

Definition at line 489 of file event_decorator.hpp.

◆ get_event_history()

template<system_state S, can_be_time T = double>

const std::vector< Event< S, T > > & diffeq::core::composable::EventDecorator< S, T >::get_event_history ( ) const

inline

Get event history.

Definition at line 467 of file event_decorator.hpp.

◆ get_sensor_data()

template<system_state S, can_be_time T = double>

std::map< std::string, SensorData< T > > diffeq::core::composable::EventDecorator< S, T >::get_sensor_data ( ) const

inline

Get current sensor data.

Definition at line 481 of file event_decorator.hpp.

◆ get_statistics()

template<system_state S, can_be_time T = double>

const EventStats & diffeq::core::composable::EventDecorator< S, T >::get_statistics ( ) const

inline

Get event statistics.

Definition at line 452 of file event_decorator.hpp.

◆ integrate()

template<system_state S, can_be_time T = double>

void diffeq::core::composable::EventDecorator< S, T >::integrate	(	typename IntegratorDecorator< S, T >::state_type &	state,
		T	dt,
		T	end_time
	)

inlineoverride

Override integrate to handle events during integration.

Definition at line 314 of file event_decorator.hpp.

◆ register_event_handler()

template<system_state S, can_be_time T = double>

void diffeq::core::composable::EventDecorator< S, T >::register_event_handler	(	EventTrigger	trigger,
		std::function< void(S &, T)>	handler
	)

inline

Register event handler for specific trigger type.

Parameters

trigger	Event trigger type
handler	Event handler function

Definition at line 330 of file event_decorator.hpp.

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◆ reset_statistics()

template<system_state S, can_be_time T = double>

void diffeq::core::composable::EventDecorator< S, T >::reset_statistics ( )

inline

Reset event statistics.

Definition at line 459 of file event_decorator.hpp.

◆ set_state_condition()

template<system_state S, can_be_time T = double>

void diffeq::core::composable::EventDecorator< S, T >::set_state_condition	(	std::function< bool(const S &, T)>	condition,
		std::function< void(S &, T)>	handler,
		EventPriority	priority = `EventPriority::NORMAL`
	)

inline

Set state-based event condition.

Parameters

condition	Function that returns true when event should trigger
handler	Event handler function
priority	Event priority

Definition at line 408 of file event_decorator.hpp.

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◆ set_threshold_event()

template<system_state S, can_be_time T = double>

void diffeq::core::composable::EventDecorator< S, T >::set_threshold_event	(	size_t	state_index,
		double	threshold,
		bool	crossing_direction,
		std::function< void(S &, T)>	handler
	)

inline

Set threshold crossing event.

Parameters

state_index	Index of state variable to monitor
threshold	Threshold value
crossing_direction	true for upward crossing, false for downward
handler	Event handler function

Definition at line 426 of file event_decorator.hpp.

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◆ step()

template<system_state S, can_be_time T = double>

void diffeq::core::composable::EventDecorator< S, T >::step	(	typename IntegratorDecorator< S, T >::state_type &	state,
		T	dt
	)

inlineoverride

Override step to handle events during integration.

Definition at line 297 of file event_decorator.hpp.

◆ submit_control_feedback()

template<system_state S, can_be_time T = double>

void diffeq::core::composable::EventDecorator< S, T >::submit_control_feedback	(	const std::string &	control_id,
		const S &	target_state,
		const S &	current_state
	)

inline

Submit control feedback.

Parameters

control_id	Control identifier
target_state	Target state
current_state	Current state

Definition at line 387 of file event_decorator.hpp.

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◆ submit_sensor_data()

template<system_state S, can_be_time T = double>

void diffeq::core::composable::EventDecorator< S, T >::submit_sensor_data	(	const std::string &	sensor_id,
		const std::vector< double > &	values,
		double	confidence = `1.0`
	)

inline

Submit sensor data.

Parameters

sensor_id	Sensor identifier
values	Sensor values
confidence	Confidence level (0.0 to 1.0)

Definition at line 363 of file event_decorator.hpp.

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◆ trigger_event()

template<system_state S, can_be_time T = double>

void diffeq::core::composable::EventDecorator< S, T >::trigger_event	(	const std::string &	event_id,
		EventPriority	priority,
		std::function< void(S &, T)>	handler,
		std::vector< uint8_t >	data = `{}`
	)

inline

Trigger custom event.

Parameters

event_id	Unique event identifier
priority	Event priority
handler	Event handler function
data	Optional event data

Definition at line 341 of file event_decorator.hpp.

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The documentation for this class was generated from the following file:

include/core/composable/event_decorator.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ EventDecorator()

◆ ~EventDecorator()

Member Function Documentation

◆ clear_event_history()

◆ config() [1/2]

◆ config() [2/2]

◆ get_control_feedback()

◆ get_event_history()

◆ get_sensor_data()

◆ get_statistics()

◆ integrate()

◆ register_event_handler()

◆ reset_statistics()

◆ set_state_condition()

◆ set_threshold_event()

◆ step()

◆ submit_control_feedback()

◆ submit_sensor_data()

◆ trigger_event()