rtcSupervisorLib.hpp

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#ifndef RTCTK_RTCSUPERVISOR_RTCSUPERVISORLIB_HPP
#define RTCTK_RTCSUPERVISOR_RTCSUPERVISORLIB_HPP
 
#include <rtctk/componentFramework/exceptions.hpp>
#include <rtctk/componentFramework/logger.hpp>
#include <rtctk/rtcSupervisor/rtcMalContext.hpp>
 
// System headers
#include <unordered_map>
 
namespace rtctk::rtcSupervisor {
 
// Constants for state values
// TODO, need to work out what we do in terms of ordering states/substates
typedef enum {
    // clang-format off
    SRV_STATE_UNKNOWN           = 0,
    SRV_STATE_OFF               = 1,
    SRV_STATE_NOT_OPERATIONAL   = 2,
    SRV_STATE_OPERATIONAL       = 3,
    SRV_STATE_MAX_STATE         = 99,
    // clang-format on
} RtcState;
 
// Constants for substate values
// TODO, need to work out what we do in terms of ordering states/substates
// There is a method in the rtcObject class EvaluatePrimarySubstate which does
// the conversion
typedef enum {
    // clang-format off
    SRV_SUBSTATE_UNKNOWN        = 0,
    SRV_SUBSTATE_NOTREADY       = 1,
    SRV_SUBSTATE_READY          = 2,
    SRV_SUBSTATE_IDLE           = 3,
    SRV_SUBSTATE_INITIALISING   = 4,
    SRV_SUBSTATE_ENABLING       = 5,
    SRV_SUBSTATE_DISABLING      = 6,
    SRV_SUBSTATE_GOINGRUNNING   = 7,
    SRV_SUBSTATE_GOINGIDLE      = 8,
    SRV_SUBSTATE_RUNNING        = 9,
    SRV_SUBSTATE_ERROR          = 99,
    // clang-format on
} RtcSubState;
 
// clang-format off
const std::string SRV_STATE_NOT_OPERATIONAL_STR = "NotOperational";
const std::string SRV_STATE_OPERATIONAL_STR = "Operational";
const std::string SRV_STATE_UNAVAILABLE_STR = "Unavailable";
 
const std::string SRV_SUBSTATE_NOTREADY_STR         = "NotReady";
const std::string SRV_SUBSTATE_READY_STR            = "Ready";
const std::string SRV_SUBSTATE_IDLE_STR             = "Idle";
const std::string SRV_SUBSTATE_INITIALISING_STR     = "Initialising";
const std::string SRV_SUBSTATE_ENABLING_STR         = "Enabling";
const std::string SRV_SUBSTATE_DISABLING_STR        = "Disabling";
const std::string SRV_SUBSTATE_GOING_RUNNING_STR    = "GoingRunning";
const std::string SRV_SUBSTATE_GOING_IDLE_STR       = "GoingIdle";
const std::string SRV_SUBSTATE_ERROR_STR            = "Error";
// clang-format on
 
typedef enum {
    rtcSTOP,
    rtcINIT,
    rtcRESET,
    rtcENABLE,
    rtcDISABLE,
    rtcEXIT,
    rtcGETSTATE,
    rtcGETVERSION,
} RtcCommand;
 
}  // namespace rtctk::rtcSupervisor
 
#endif  // RTCTK_RTCSUPERVISOR_RTCSUPERVISORLIB_HPP