rtcObject.hpp

Go to the documentation of this file.

 
#ifndef RTCTK_RTCSUPERVISOR_RTCOBJECT_HPP
#define RTCTK_RTCSUPERVISOR_RTCOBJECT_HPP
 
#include <Rtctkif.hpp>
#include <rad/mal/subscriber.hpp>
#include <rad/smAdapter.hpp>
#include <rtctk/componentFramework/stateSubscriber.hpp>
#include <rtctk/rtcSupervisor/rtcSupervisorLib.hpp>
 
namespace rtctk::rtcSupervisor {
 
using stdif::StdCmdsAsync;
using stdif::StdCmdsSync;
 
class RtcObject {
public:
    RtcObject(const std::string &name, const std::string &rr_uri, const std::string &ps_uri);
    virtual ~RtcObject();
 
    virtual void BelievedState(const std::string &s);
    virtual std::string BelievedState();
    virtual std::string BelievedSubstate();
    void EvaluatedState(RtcState &state, RtcSubState &sub_state);
 
    virtual std::string Name() {
        return m_name;
    };
 
    virtual void BelievedError(bool i) {
        m_b_error = i;
    }
 
    virtual bool BelievedError() {
        return m_b_error;
    }
 
    virtual std::string RunCmd(RtcCommand cmd, bool timed);
    virtual std::string RunAsync(RtcCommand cmd);
    virtual std::string WaitAsync();
    virtual bool GetAsyncCommandOk();
 
private:
    void BuildObject();
 
    std::string m_name;
    std::string m_stdif_uri;
    std::string m_rr_uri;
    std::string m_ps_uri;
 
    std::string m_b_state;
    std::string m_b_substate;
    bool m_b_error;
    virtual void EvaluateState(const std::string &s);
    virtual void
    EvaluatePrimaryStateAndSubstate(const std::string &state, const std::string &substate);
    RtcState m_evaluated_state;
    RtcSubState m_evaluated_substate;
 
    std::shared_ptr<StdCmdsAsync> m_cli_async;
    elt::mal::future<std::string> m_cli_async_future;
    std::shared_ptr<StdCmdsSync> m_cli_sync;
    std::shared_ptr<StdCmdsSync> m_cli_timed_sync;
 
    bool m_async_command_ok;
    std::string m_async_command_ok_string;
    bool m_component_caused_exception;
 
    bool m_command_returns_ok;
};
 
}  // namespace rtctk::rtcSupervisor
 
#endif  // RTCTK_RTCSUPERVISOR_RTCOBJECT_HPP