rtcObjectController.hpp

Go to the documentation of this file.

 
#ifndef RTCTK_RTCSUPERVISOR_RTCOBJECTCONTROLLER_HPP
#define RTCTK_RTCSUPERVISOR_RTCOBJECTCONTROLLER_HPP
 
#include "rtctk/rtcSupervisor/rtcObject.hpp"
#include <rtctk/componentFramework/logger.hpp>
 
#include <map>
#include <mutex>
#include <stdexcept>
#include <string>
#include <vector>
 
namespace rtctk::rtcSupervisor {

class CommandFailedException : public rtctk::componentFramework::RtctkException {
public:
    explicit CommandFailedException(RtcCommand cmd, const std::vector<std::exception_ptr>& errs);
};

class RtcObjectController {
public:
    RtcObjectController() = delete;
    explicit RtcObjectController(std::vector<std::unique_ptr<RtcObjectIf>>& objects);
 
    virtual ~RtcObjectController() = default;

    std::map<std::string, std::string>
    RunSequential(RtcCommand cmd, bool keep_going, std::optional<unsigned> timeout = std::nullopt);

    std::map<std::string, std::string>
    RunParallel(RtcCommand cmd, std::optional<unsigned> timeout = std::nullopt);
 
protected:
    // cppcheck-suppress-begin unusedStructMember
 
    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;
 
    // cppcheck-suppress-end unusedStructMember
};
 
}  // namespace rtctk::rtcSupervisor
 
#endif  // RTCTK_RTCSUPERVISOR_RTCOBJECTCONTROLLER_HPP