rtcSupervisor.hpp

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#ifndef RTCTK_RTCSUPERVISOR_RTCSUPERVISOR_HPP
#define RTCTK_RTCSUPERVISOR_RTCSUPERVISOR_HPP
 
#include <mutex>
 
#include <rtctk/componentFramework/oldbIf.hpp>
#include <rtctk/componentFramework/runnable.hpp>
#include <rtctk/componentFramework/runtimeRepoIf.hpp>
#include <rtctk/componentFramework/serviceContainer.hpp>
#include <rtctk/componentFramework/serviceDiscovery.hpp>
#include <rtctk/componentFramework/stateSubscriber.hpp>
 
#include <rtcMonitor.hpp>
#include <rtctk/rtcSupervisor/rtcObjectConfig.hpp>
 
using namespace rtctk::componentFramework;
 
namespace rtctk::rtcSupervisor {
 
using Super = Runnable<RtcComponent>;
 
class RtcSupervisor : public Super::BizLogicIf {
    friend class RtcMonitor;
 
public:
    using ComponentType = Super;
 
    RtcSupervisor(const std::string& comp_name, ServiceContainer& services);
 
    virtual ~RtcSupervisor();
 
    void ActivityStarting(StopToken st) override;
    void ActivityRecovering(StopToken st) override;
    void ActivityInitialising(StopToken st) override;
    void ActivityEnabling(StopToken st) override;
    void ActivityDisabling(StopToken st) override;
    void ActivityGoingRunning(StopToken st) override;
    void ActivityGoingIdle(StopToken st) override;
    void ActivityRunning(StopToken st) override;
    void ActivityUpdating(StopToken st, Payload args) override;
    bool GuardUpdatingAllowed(Payload args) override;
 
    void InError(bool flag, const std::string why);
 
protected:
    std::mutex& GlobalMutex();
    std::mutex m_global_mutex;
 
    void MonitorCycle();
 
    const std::string name;
 
    ServiceContainer& services;
    RuntimeRepoIf& rtr;
    ServiceDiscovery& svc;
    OldbIf& oldb;
 
    RtcObjectConfig m_object_config;
    std::shared_ptr<StateSubscriber> m_state_subscriber;
 
    void
    OnStateEventReceived(const double timestamp, const std::string& name, const std::string& state);
 
    std::string m_disp_state;
    std::string m_gstate;
    std::string m_gsubstate;
    bool m_gerror;
    std::string m_gwho_is_in_error;
    void PublishGState();
 
    RtcMonitor m_mon;
 
    void PopulateRuntimeRepo();
 
    void LoadStaticConfig();
    void LoadDynamicConfig();
 
    bool m_init_alone;
    bool m_enable_alone;
    bool m_update_alone;
    bool m_disable_alone;
};
 
}  // namespace rtctk::rtcSupervisor
 
#endif  // RTCTK_RTCSUPERVISOR_RTCSUPERVISOR_HPP