rtcObjectController.hpp

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#ifndef RTCTK_RTCSUPERVISOR_RTCOBJECTCONTROLLER_HPP
#define RTCTK_RTCSUPERVISOR_RTCOBJECTCONTROLLER_HPP
 
#include "rtctk/rtcSupervisor/rtcObject.hpp"
#include <rtctk/componentFramework/logger.hpp>
 
#include <mutex>
#include <stdexcept>
#include <string>
#include <vector>
 
namespace rtctk::rtcSupervisor {
 
class CommandFailedException : public rtctk::componentFramework::RtctkException {
public:
    explicit CommandFailedException(RtcCommand cmd, std::vector<std::exception_ptr> const& errs);
};
 
class RtcObjectController {
public:
    RtcObjectController() = delete;
    RtcObjectController(std::vector<std::unique_ptr<RtcObjectIf>>& objects);
 
    virtual ~RtcObjectController() = default;
 
    void
    RunSequential(RtcCommand cmd, bool keep_going, std::optional<unsigned> timeout = std::nullopt);
 
    void RunParallel(RtcCommand cmd, std::optional<unsigned> timeout = std::nullopt);
 
protected:
    log4cplus::Logger& m_logger;
 
    std::vector<std::unique_ptr<RtcObjectIf>>& m_objects;
 
    // Mutex to ensure that commands are only sent to the SRTC components being monitored
    // from one RTC Supervisor thread at a time. Otherwise we might get mixed replies from
    // two different commands.
    std::mutex m_command_mutex;
};
 
}  // namespace rtctk::rtcSupervisor
 
#endif  // RTCTK_RTCSUPERVISOR_RTCOBJECTCONTROLLER_HPP