rtcObjectConfig.hpp

Go to the documentation of this file.

 
#ifndef RTCTK_RTCSUPERVISOR_RTCOBJECTCONFIG_HPP_
#define RTCTK_RTCSUPERVISOR_RTCOBJECTCONFIG_HPP_
 
#include "Stdif.hpp"
#include "Rtctkif.hpp"
#include "rtctk/componentFramework/runtimeRepoApiIf.hpp"
 
#include "rtctk/rtcSupervisor/rtcCommandRequestList.hpp"
#include "rtctk/rtcSupervisor/rtcSupervisorLib.hpp"
#include "rtctk/componentFramework/serviceDiscovery.hpp"
#include "rtctk/componentFramework/fakeOldbAdapter.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::RuntimeRepoApiIf &rtr,
                 rtctk::componentFramework::ServiceDiscovery &svc);
    };
 
    class RtcObjectConfig {
    public:
        RtcObjectConfig(std::string name,
            rtctk::componentFramework::RuntimeRepoApiIf &rtr,
            rtctk::componentFramework::ServiceDiscovery &svc,
                rtctk::componentFramework::OldbApiIf& 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::RuntimeRepoApiIf& m_rtr;
        rtctk::componentFramework::ServiceDiscovery& m_svc;
        rtctk::componentFramework::OldbApiIf& m_oldb;
 
        std::vector<elt::mal::Uri> m_pub_sub_uris;
    };
}
 
#endif