rtcSupervisor.hpp

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#ifndef RTCTK_RTCSUPERVISOR_RTCSUPERVISOR_HPP_
#define RTCTK_RTCSUPERVISOR_RTCSUPERVISOR_HPP_
 
#include "rtctk/componentFramework/runnableStateMachineLogicIf.hpp"
#include <string> // TODO deleteme once bug is fixed
#include <vector> // TODO deleteme once bug is fixed
#include "rtctk/componentFramework/runtimeRepoApiIf.hpp"
#include "rtctk/componentFramework/serviceContainer.hpp"
#include "rtctk/componentFramework/fakeOldbAdapter.hpp"
#include "rtctk/componentFramework/serviceDiscovery.hpp"
#include "rtctk/componentFramework/stateSubscriber.hpp"
#include <mutex>
 
 
 
// DOR, added to example
#include "rtctk/rtcSupervisor/rtcObjectConfig.hpp"
#include "rtcMonitor.hpp"
 
 
namespace rtctk::rtcSupervisor {
 
    class RtcSupervisor : public rtctk::componentFramework::RunnableStateMachineLogicIf
    {
    friend class RtcMonitor;
    public:
        RtcSupervisor(const std::string& comp_name, rtctk::componentFramework::ServiceContainer& services);
 
        virtual ~RtcSupervisor();
 
        // activities
        void Starting(rtctk::componentFramework::StopToken st) override;
        void Recovering(rtctk::componentFramework::StopToken st) override;
        void Initialising(rtctk::componentFramework::StopToken st) override;
        void Enabling(rtctk::componentFramework::StopToken st) override;
        void Disabling(rtctk::componentFramework::StopToken st) override;
        void GoingRunning(rtctk::componentFramework::StopToken st) override;
        void GoingIdle(rtctk::componentFramework::StopToken st) override;
        void Running(rtctk::componentFramework::StopToken st) override;
        void Updating(rtctk::componentFramework::StopToken st, rtctk::componentFramework::Payload args) override;
 
        // guards
        bool IsUpdatingAllowed(rtctk::componentFramework::Payload args) override;
 
        void InError(bool flag, const std::string why);
    protected:
    std::mutex &GlobalMutex();
    std::mutex m_global_mutex;
 
    void MonitorCycle();
 
        const std::string name;
 
        rtctk::componentFramework::ServiceContainer& services;
        rtctk::componentFramework::RuntimeRepoApiIf& rtr;
        rtctk::componentFramework::ServiceDiscovery& svc;
        rtctk::componentFramework::OldbApiIf& oldb;
 
        RtcObjectConfig m_object_config;
        std::shared_ptr<rtctk::componentFramework::StateSubscriber> m_state_subscriber;
 
    void OnStateEventReceived(const double timestamp, 
                const std::string& name, const std::string& state);
 
        std::string m_disp_state;
        std::string m_gstate;
        std::string m_gsubstate;
        bool m_gerror;
        std::string m_gwho_is_in_error;
    void PublishGState();
 
    RtcMonitor m_mon;
 
 
    void LoadStaticConfig();
    void LoadDynamicConfig();
 
    bool m_init_alone;
    bool m_enable_alone;
    bool m_update_alone;
    bool m_disable_alone;
 
    };
 
} // closing namespace
 
#endif