rtcSupervisorLib.hpp

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#ifndef RTCTK_RTCSUPERVISORLIB_HPP_
#define RTCTK_RTCSUPERVISORLIB_HPP_
 
#include "rtctk/componentFramework/logger.hpp"
#include "rtctk/componentFramework/exceptions.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 {
      SRV_STATE_UNKNOWN           =  0,
      SRV_STATE_OFF               =  1,
      SRV_STATE_NOT_OPERATIONAL       =  2,
      SRV_STATE_OPERATIONAL           =  3,
      SRV_STATE_MAX_STATE             =  99,
      } 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 {
      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,
      } RtcSubState;
 
      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";
 
 
      typedef enum {
        rtcSTOP,
        rtcINIT,
        rtcRESET,
        rtcENABLE,
        rtcDISABLE,
        rtcEXIT,
        rtcGETSTATE,
        rtcGETVERSION,
        } RtcCommand;
 
}  
 
 
#endif