commandRequestor.hpp

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#ifndef RTCTK_COMPONENTFRAMEWORK_COMMANDREQUESTOR_HPP
#define RTCTK_COMPONENTFRAMEWORK_COMMANDREQUESTOR_HPP
 
#include <Introspectionif.hpp>
#include <Rtctkif.hpp>
#include <Stdif.hpp>
 
#include <mal/Cii.hpp>
#include <mal/utility/Uri.hpp>
 
#include <chrono>
#include <memory>
#include <optional>
 
namespace rtctk::componentFramework {

class CommandRequestor {
public:
    explicit CommandRequestor(const elt::mal::Uri& uri,
                              std::optional<std::chrono::milliseconds> timeout = std::nullopt);
 
    virtual ~CommandRequestor() = default;

    std::string SendCommandSync(const std::string& id, const std::string& args);
    elt::mal::future<std::string> SendCommandAsync(const std::string& id, const std::string& args);
 
protected:
    template <typename T>
    std::unique_ptr<T> MakeInterface(const std::string& name) {
        return m_factory.getClient<T>(elt::mal::Uri(m_uri + name), m_qos, m_props);
    }

    void RegisterCommand(const std::string& id,
                         std::function<elt::mal::future<std::string>(const std::string&)> fun);
 
private:
    std::string m_uri;
    elt::mal::Mal::Properties m_props;
    elt::mal::CiiFactory& m_factory;
    std::vector<std::shared_ptr<elt::mal::rr::qos::QoS>> m_qos;
 
    // cppcheck-suppress unusedStructMember
    std::map<std::string, std::function<elt::mal::future<std::string>(const std::string&)>> m_cmds;
 
    std::unique_ptr<introspectionif::IntrospectionAsync> insif;
    std::unique_ptr<stdif::StdCmdsAsync> stdif;
    std::unique_ptr<rtctkif::RecoverCmdsAsync> rcif;
    std::unique_ptr<rtctkif::AlertCmdsAsync> acif;
    std::unique_ptr<rtctkif::UpdateCmdsAsync> ucif;
    std::unique_ptr<rtctkif::FuncCmdsAsync> fcif;
    std::unique_ptr<rtctkif::MeasCmdsAsync> mcif;
    std::unique_ptr<rtctkif::OptCmdsAsync> ocif;
    std::unique_ptr<rtctkif::LoopCmdsAsync> lcif;
    std::unique_ptr<rtctkif::SuspCmdsAsync> lsif;
    std::unique_ptr<rtctkif::ModeCmdsAsync> smif;
    std::unique_ptr<rtctkif::WriteBackCmdsAsync> wbif;
};
 
}  // namespace rtctk::componentFramework
 
#endif  // RTCTK_COMPONENTFRAMEWORK_COMMANDREQUESTOR_HPP