#include <application.hpp>

Inheritance diagram for rad::Application:

Public Member Functions
	Application (const std::string &name, rad::DataContext &data)

	~Application () override

virtual bool	Config (int argc, char *argv[])

virtual void	Init (rad::ConfigurableActionMgr &action_mgr)

virtual bool	Init (int argc, char *argv[], rad::ConfigurableActionMgr &action_mgr)

void	RegisterMalDds (const elt::mal::Mal::Properties &mal_properties)

virtual void	RegisterMalDds ()

virtual void	Run ()

void	StopEventLoop ()

const std::string &	GetName () const

rad::DataContext &	GetDataContext ()

boost::asio::io_context &	GetEventLoop ()

std::shared_ptr< elt::mal::Mal >	GetMalInstance ()

std::shared_ptr< elt::mal::Mal >	GetMalDdsInstance ()

void	CreateReplier (const std::string &uri)

template<typename IF , typename IF_IMPL >
void	RegisterService (const std::string &name, std::shared_ptr< IF_IMPL > if_impl)

	Application (const Application &)=delete

Application &	operator= (const Application &)=delete
	Disable copy constructor.

Public Member Functions inherited from rad::SMAdapter
	SMAdapter (boost::asio::io_context &ios, scxml4cpp::Context *context, scxml4cpp::EventQueue &external_events)

virtual	~SMAdapter ()

void	Load (const std::string &filename, std::list< scxml4cpp::Action * > action_list, std::list< scxml4cpp::Activity > *activity_list, const scxml4cpp::ReplaceRules &replace_rules=scxml4cpp::ReplaceRules())

void	LoadFromString (const std::string &name, const std::string &model, std::list< scxml4cpp::Action * > action_list, std::list< scxml4cpp::Activity > *activity_list, const scxml4cpp::ReplaceRules &replace_rules=scxml4cpp::ReplaceRules())

void	Append (const std::string &filename, std::list< scxml4cpp::Action * > action_list, std::list< scxml4cpp::Activity > *activity_list, const scxml4cpp::ReplaceRules &replace_rules=scxml4cpp::ReplaceRules())

void	AppendFromString (const std::string &name, const std::string &model, std::list< scxml4cpp::Action * > action_list, std::list< scxml4cpp::Activity > *activity_list, const scxml4cpp::ReplaceRules &replace_rules=scxml4cpp::ReplaceRules())

void	Save (const std::string &filename)

std::string	GetStateMachineAsString ()

void	Start ()

void	Stop ()

void	PostEvent (SharedEvent e)

void	ProcessEvent ()

void	ProcessEvent (scxml4cpp::Event *e)

void	ProcessEvent (const AnyEvent &e)

void	SetStatusRepresentation (const bool use_fully_qualified_state)

std::string	GetStatus () const

std::list< scxml4cpp::State * >	GetActiveStates ()

void	AddStatusListener (scxml4cpp::StatusListener *listener)

void	RemoveStatusListener (scxml4cpp::StatusListener *listener)

void	AddEventListener (scxml4cpp::EventListener *listener)

void	RemoveEventListener (scxml4cpp::EventListener *listener)

void	SetStatusPublisher (std::function< void(const std::string &)> publisher)

void	PublishStatus ()

void	RegisterRejectHandler (const std::string &id, std::function< void(const rad::AnyEvent &, const std::string &state)> handler)

template<typename T >
void	RegisterDefaultRequestRejectHandler ()

void	SetLogLevel (const std::string &level)

	SMAdapter (const SMAdapter &e)=delete

SMAdapter &	operator= (SMAdapter &e)=delete

Detailed Description

This class can be used as skeleton application that integrates the Boost ASIO event loop and the scxml4cpp State Machine interpreter.

It allows to reuse the application start-up/initialization code.

The Application object should be created:

after the DataContext since it needs configuration information.
before the ActionMgr since the actions and activities gets a reference to the Application object (e.g. to be able to inject events) and therefore they should be deleted (by the ActionMgr) before the Application object.

Constructor & Destructor Documentation

◆ Application() [1/2]

rad::Application::Application	(	const std::string &	name,
		rad::DataContext &	data )

Default constructor.

Parameters

name	Name of the SW module used as main logger and log filename.
data	Data used and produced by the application.

◆ ~Application()

rad::Application::~Application ( )

override

Destructor

◆ Application() [2/2]

rad::Application::Application ( const Application & )

delete

Member Function Documentation

◆ Config()

bool rad::Application::Config	(	int	argc,
		char *	argv[] )

virtual

Configure the application using: 1) the default hard-coded configuration values 2) environment variables 3) configuration file (if given) 4) command line parameters

Parameters

argc	Number of command line arguments.
argv	Vector of arguments.

Returns: false If the request for help (-h) was requested, true otherwise.

◆ CreateReplier()

void rad::Application::CreateReplier ( const std::string & uri )

Creates the rad::cii::Replier object used to process the requests/commands sent to the application.

Ideally this method can be reused also to re-configured the application with a different URI. TODO unfortunately URI reconfiguration doesn't seem to work check CII/MAL.

Parameters

uri	CII/MAL endpoint to be used when sending commands to the application.

Switch the replier to a different URI.

TODO works only at the very beginning, changing to a different URI seems not to work, investigate MAL?

◆ GetDataContext()

rad::DataContext & rad::Application::GetDataContext ( )

inline

Returns: Return the application's data context.

◆ GetEventLoop()

boost::asio::io_context & rad::Application::GetEventLoop ( )

inline

Returns: a reference to the Boost ASIO event loop.

◆ GetMalDdsInstance()

std::shared_ptr< elt::mal::Mal > rad::Application::GetMalDdsInstance ( )

inline

Returns: a reference to MAL DDS instance.

◆ GetMalInstance()

std::shared_ptr< elt::mal::Mal > rad::Application::GetMalInstance ( )

inline

Returns: a reference to MAL ZPB instance.

◆ GetName()

const std::string & rad::Application::GetName ( ) const

inline

Returns: Return the application name.

◆ Init() [1/2]

bool rad::Application::Init	(	int	argc,
		char *	argv[],
		rad::ConfigurableActionMgr &	action_mgr )

virtual

Initialize and configure the application using: 1) the default hard-coded configuration values 2) environment variables 3) configuration file (if given) 4) command line parameters

It also creates the actions and activities provided by the ActionMgr. Note that the ActionMgr should be created before invoking this method but after the creation of the Application.

Parameters

argc	Number of command line arguments.
argv	Vector of arguments.
action_mgr	Reference to the ActionMgr object used to create the actions and activities.

Returns: false If the request for help (-h) was requested, true otherwise.

◆ Init() [2/2]

void rad::Application::Init ( rad::ConfigurableActionMgr & action_mgr )

virtual

This method initializes the application by:

Writing the (already loaded) configuration into the OLDB.
Creating the actions and activities provided by the ActionMgr.
Creating Replier object to process incoming command.
Loading State Machine model(s).
Registering default reject request handlers.
Registering state publisher to OLDB.

Note that the ActionMgr should be created before invoking this method but after the creation of the Application.

Parameters

action_mgr Reference to the ActionMgr object used to create the actions and activities.

◆ operator=()

Application & rad::Application::operator= ( const Application & )

delete

Disable copy constructor.

◆ RegisterMalDds() [1/2]

void rad::Application::RegisterMalDds ( )

virtual

Load and register MAL DDS configured with the properties defined in the Config class. It is assumed that the following configuration parameters are available:

"cfg/dds_qos_profile" (KEY_CONFIG_DDS_QOS_PROFILE)
"cfg/dds_qos_participant" (KEY_CONFIG_DDS_QOS_PARTICIPANT)

This method throws a rad::Exception if the parameters above are not available in the configuration or they are available but empty since the MAL DDS won't work.

Deprecated

◆ RegisterMalDds() [2/2]

void rad::Application::RegisterMalDds ( const elt::mal::Mal::Properties & mal_properties )

Load and register MAL DDS configured with the given properties.

At least the following properties should be provided for a publisher application:

"dds.domain" or
"dds.qos.profile.library - "dds.qos.profile.name.participant" At least the following properties should be provided for a subscriber application: - "dds.qos.profile.library
"dds.qos.profile.name.participant"

Parameters

mal_properties MAL properties to configure DDS.

◆ RegisterService()

template<typename IF , typename IF_IMPL >

void rad::Application::RegisterService	(	const std::string &	name,
		std::shared_ptr< IF_IMPL >	if_impl )

Register the requests/commands to be processed by the application. Note that if no rad::cii::Replier object has been created, the method returns immediately.

Parameters

name	name of the service corresponding to a MAL interface.
if_impl	Implementation of a MAL interface.

◆ Run()

void rad::Application::Run ( )

virtual

Starts the State Machine interpreter and the Boost ASIO event loop. This method returns only when the Boost ASIO event loop is stopped (e.g. when StopEventLoop() is invoked).

If the event loop is stopped, also the State Machine interpreter is terminated.

◆ StopEventLoop()

void rad::Application::StopEventLoop ( )

Stops the Boost ASIO event loop and force the application to quit.

The documentation for this class was generated from the following files:

rad/cpp/app/src/include/rad/application.hpp
rad/cpp/app/src/application.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Application() [1/2]

◆ ~Application()

◆ Application() [2/2]

Member Function Documentation

◆ Config()

◆ CreateReplier()

◆ GetDataContext()

◆ GetEventLoop()

◆ GetMalDdsInstance()

◆ GetMalInstance()

◆ GetName()

◆ Init() [1/2]

◆ Init() [2/2]

◆ operator=()

◆ RegisterMalDds() [1/2]

◆ RegisterMalDds() [2/2]

◆ RegisterService()

◆ Run()

◆ StopEventLoop()