application.hpp

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#ifndef RAD_APPLICATION_HPP
#define RAD_APPLICATION_HPP
 
//#include <lsv/app/events.rad.hpp>
//#include <lsv/app/stdCmds.rad.hpp>
//#include <lsv/app/stdCmdsImpl.hpp>
//#include <lsv/app/lsvCmdsImpl.hpp>
 
#include <rad/smAdapter.hpp>
#include <rad/dataContext.hpp>
#include <rad/configurableActionMgr.hpp>
#include <rad/mal/replier.hpp>
#include <rad/mal/utils.hpp>
 
#include <scxml4cpp/Context.h>
#include <scxml4cpp/EventQueue.h>
 
#include <boost/asio.hpp>
 
#include <string>
#include <memory>
 
namespace rad {

class Application : public rad::SMAdapter {
 public:
    Application(const std::string& name, rad::DataContext& data);

    ~Application() override;

    virtual bool Config(int argc, char* argv[]);

    virtual void Init(rad::ConfigurableActionMgr& action_mgr);

    virtual bool Init(int argc, char* argv[], rad::ConfigurableActionMgr& action_mgr);

    void RegisterMalDds(const elt::mal::Mal::Properties& mal_properties);

    [[deprecated("use RegisterMalDds(const elt::mal::Mal::Properties&)")]]
    virtual void RegisterMalDds();

    virtual void Run();

    void StopEventLoop();

    inline const std::string& GetName() const { return m_name; }

    inline rad::DataContext& GetDataContext() { return m_data; }

    inline boost::asio::io_context& GetEventLoop() { return m_ioc; }

    inline std::shared_ptr<elt::mal::Mal> GetMalInstance() { return m_mal_zpb_instance; }

    inline std::shared_ptr<elt::mal::Mal> GetMalDdsInstance() { return m_mal_dds_instance; }

    void CreateReplier(const std::string& uri);

    template<typename IF, typename IF_IMPL>
    void RegisterService(const std::string& name, std::shared_ptr<IF_IMPL> if_impl);
 
 
    Application(const Application&) = delete;       
    Application& operator=(const Application&) = delete;  
 
 private:
    std::string m_name;
    log4cplus::Logger m_logger;
    rad::DataContext& m_data;
    std::shared_ptr<elt::mal::Mal> m_mal_zpb_instance;
    std::shared_ptr<elt::mal::Mal> m_mal_dds_instance;
    scxml4cpp::EventQueue m_external_events;
    scxml4cpp::Context m_state_machine_ctx;
 
    // Keep elt::mal::rr::Server open
    std::unique_ptr<rad::cii::Replier> m_mal_replier;
 
    // Destruct io_context before the elt::mal::rr::Server so that pending MAL
    // requests/replies are cancelled before the MAL server.
    // Otherwise the application may coredump.
    boost::asio::io_context m_ioc;
};
 
template<typename IF, typename IF_IMPL>
void Application::RegisterService(const std::string& name, std::shared_ptr<IF_IMPL> if_impl) {
 
    if (m_mal_replier == nullptr) {
        return;
    }
 
    m_mal_replier->RegisterService<IF>(name, if_impl);
}
 
 
}  // namespace rad
 
#endif  // RAD_APPLICATION_HPP