rtcObjectConfig.hpp

Go to the documentation of this file.

 
#ifndef RTCTK_RTCSUPERVISOR_RTCOBJECTCONFIG_HPP
#define RTCTK_RTCSUPERVISOR_RTCOBJECTCONFIG_HPP
 
#include <rtctk/componentFramework/oldbIf.hpp>
#include <rtctk/componentFramework/runtimeRepoIf.hpp>
#include <rtctk/componentFramework/serviceDiscovery.hpp>
#include <rtctk/rtcSupervisor/rtcCommandRequestList.hpp>
#include <rtctk/rtcSupervisor/rtcSupervisorLib.hpp>
 
namespace rtctk::rtcSupervisor {
 
class RtcObjectDescription {
public:
    std::string m_name;
    std::string m_rr_uri;
    std::string m_ps_uri;
 
    RtcObjectDescription(const std::string &name,
                         const std::string &rr_uri,
                         const std::string &ps_uri) {
        m_name = name;
        m_rr_uri = rr_uri;
        m_ps_uri = ps_uri;
    }
 
    RtcObjectDescription() {
        m_name = "";
        m_rr_uri = "";
        m_ps_uri = "";
    }
};
 
class RtcObjectsDescription {
public:
    RtcObjectsDescription();
 
    std::list<RtcObjectDescription> objects;
 
    void LoadFromRuntimeRepo(rtctk::componentFramework::RuntimeRepoIf &rtr,
                             rtctk::componentFramework::ServiceDiscovery &svc);
};
 
class RtcObjectConfig {
public:
    RtcObjectConfig(std::string name,
                    rtctk::componentFramework::RuntimeRepoIf &rtr,
                    rtctk::componentFramework::ServiceDiscovery &svc,
                    rtctk::componentFramework::OldbIf &oldb);
 
    virtual ~RtcObjectConfig();
 
    // @brief Read config from RR and build lists
    void BuildFromRuntimeRepo();
 
    // @brief Find object or NULL
    std::shared_ptr<RtcObject> FindObject(const std::string &name);
 
    // @brief Return the all object list
    std::shared_ptr<RtcCommandRequestList> AllObjectsRequestList() {
        return m_objects_request_list;
    };
 
    // @brief Update state information from event, evaluate the new global state
    void OnStateEventReceived(const double timestamp,
                              const std::string &name,
                              const std::string &state,
                              std::string &gstate,
                              std::string &gsubstate,
                              bool &gerror,
                              std::string &gerror_who);
 
    // @brief Give access to the object list
    std::list<std::shared_ptr<RtcObject>> &ObjectList() {
        return m_objects_list;
    };
 
    // @brief Give access to the pub sub list
    std::vector<elt::mal::Uri> &PubSubURIs() {
        return m_pub_sub_uris;
    };
 
    // @brief Evaluate global state by traversing all objects
    void EvaluateBelievedState(std::string &gstate,
                               std::string &gsubstate,
                               bool &gerror,
                               std::string &gerror_who);
 
    // @brief Free memory (if needed)
    void Cleanup();
 
    // @brief Dump for debugging
    void Dump();
 
private:
    // @brief name of the component (needed for OLDB access at least)
    std::string m_name;
 
    // @brief lists of objects and commands
    std::list<std::shared_ptr<RtcObject>> m_objects_list;
    std::shared_ptr<RtcCommandRequestList> m_objects_request_list;
 
    // @brief the configuration as loaded from the runtime repo
    // names and URIs
    RtcObjectsDescription m_objects_description;
 
    void BuildObjectsList();
    void BuildObjectsRequestList();
 
    // @brief ref to rtr and svc
    rtctk::componentFramework::RuntimeRepoIf &m_rtr;
    rtctk::componentFramework::ServiceDiscovery &m_svc;
    rtctk::componentFramework::OldbIf &m_oldb;
 
    std::vector<elt::mal::Uri> m_pub_sub_uris;
};
 
}  // namespace rtctk::rtcSupervisor
 
#endif  // RTCTK_RTCSUPERVISOR_RTCOBJECTCONFIG_HPP