telRepubBusinessLogic.hpp

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#ifndef RTCTK_REUSABLECOMPONENT_TELREPUB_TELREPUBBUSINESSLOGIC_HPP_
#define RTCTK_REUSABLECOMPONENT_TELREPUB_TELREPUBBUSINESSLOGIC_HPP_
 
#include "udpReceiver.hpp"
#include "ddsPub.hpp"
#include "ddsPubThread.hpp"
 
#include "rtctk/componentFramework/commandReplier.hpp"
#include "rtctk/componentFramework/commandHandler.hpp"
#include "rtctk/componentFramework/statePublisher.hpp"
#include "rtctk/componentFramework/runnableStateMachine.hpp"
#include "rtctk/componentFramework/runnableStateMachineLogicIf.hpp"
 
#include "rtctk/componentFramework/serviceContainer.hpp"
 
#include <rad/mal/utils.hpp>
#include <rad/logger.hpp>
 
#include <chrono>
#include <iostream>
 
using namespace rtctk::componentFramework;
using namespace std::chrono_literals;
using namespace std;
 
using std::this_thread::sleep_for;
 
namespace rtctk::telRepub  {
 
class TelRepubBusinessLogic : public RunnableStateMachineLogicIf
{
public:
    TelRepubBusinessLogic(const std::string& name, rtctk::componentFramework::ServiceContainer& services);
 
    virtual ~TelRepubBusinessLogic();
 
    // activities
    void Starting(StopToken st) override;
 
    void Recovering(StopToken st) override;
 
    void Initialising(StopToken st) override;
 
    void Enabling(StopToken st) override;
 
    void Disabling(StopToken st) override;
 
    void GoingRunning(StopToken st) override;
 
    void GoingIdle(StopToken st) override;
 
    void Running(StopToken st) override;
 
    void Updating(StopToken st, Payload args) override;
    // guards
    bool IsUpdatingAllowed(Payload args) override;
 
protected:
 
    void CreateMudpiReceivers();
 
    void DeleteMudpiReceivers();
 
    void CreateDdsPubs();
    void DeleteDdsPubs();
 
 
    const std::string m_name;
 
    rtctk::componentFramework::ServiceContainer& m_serviceContainer;
 
    DdsPub m_ddsPub;
 
    std::vector<std::unique_ptr<UdpReceiver>> udp_receivers;
 
    std::list<PubThread<rtctk::AgnosticTopic>> m_pubThreads;
};
 
} // closing namespace
 
#endif //RTCTK_REUSABLECOMPONENT_TELREPUB_TELREPUBBUSINESSLOGIC_HPP_