customCmdsImpl.hpp

Go to the documentation of this file.

 
#ifndef RTCTK_EXAMPLECUSTOM_CUSTOMCMDSIMPL_HPP
#define RTCTK_EXAMPLECUSTOM_CUSTOMCMDSIMPL_HPP
 
#include "Rtctkexif.hpp"
#include "customEvents.rad.hpp"
#include "rtctk/componentFramework/commandReplier.hpp"
#include "rtctk/componentFramework/logger.hpp"
#include "rtctk/componentFramework/malEventInjector.hpp"
#include "rtctk/componentFramework/stateMachineEngine.hpp"
#include <mal/Cii.hpp>
#include <memory>
#include <string>
 
namespace rtctk::exampleCustom {
 
namespace cfw = componentFramework;
 
class CustomCmdsImpl : public rtctkexif::AsyncCustomCmds {
public:
    static void Register(cfw::CommandReplier& replier, cfw::StateMachineEngine& engine) {
        std::shared_ptr<elt::mal::rr::RrEntity> rr_service =
            std::make_shared<CustomCmdsImpl>(engine);
        replier.RegisterService<rtctkexif::AsyncCustomCmds>("CustomCmds", rr_service);
    }
 
    CustomCmdsImpl(cfw::StateMachineEngine& engine) : m_engine(engine) {
    }
 
    ::elt::mal::future<std::string> Foo() override {
        LOG4CPLUS_TRACE(cfw::GetLogger(), "Received command 'Foo'");
        return cfw::InjectReqRepEvent<events::Foo>(this->m_engine);
    }
 
    ::elt::mal::future<std::string> Bar(std::string const& args) override {
        LOG4CPLUS_TRACE(cfw::GetLogger(), "Received command 'Bar' with payload '" + args + "'");
        return cfw::InjectReqRepEvent<events::Bar>(this->m_engine, args);
    }
 
private:
    cfw::StateMachineEngine& m_engine;
};
 
}  // namespace rtctk::exampleCustom
 
#endif