PassiveLProcessor.h

/*
 * Copyright (c) 2015 Pavel Vainerman.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as
 * published by the Free Software Foundation, version 2.1.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
 * Lesser General Lesser Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 */
// --------------------------------------------------------------------------
#ifndef PassiveLProcessor_H_
#define PassiveLProcessor_H_
// --------------------------------------------------------------------------
#include <map>
#include <memory>
#include "UniSetTypes.h"
#include "UniSetObject.h"
#include "Extensions.h"
#include "SharedMemory.h"
#include "UInterface.h"
#include "SMInterface.h"
#include "LProcessor.h"
// --------------------------------------------------------------------------
namespace uniset
{
    // -------------------------------------------------------------------------
    class PassiveLProcessor:
        public UniSetObject,
        protected LProcessor
    {
        public:
 
            PassiveLProcessor(uniset::ObjectId objId,
                              uniset::ObjectId shmID, const std::shared_ptr<SharedMemory>& ic = nullptr, const std::string& prefix = "lproc" );
            virtual ~PassiveLProcessor();
 
            enum Timers
            {
                tidStep
            };
 
            static void help_print( int argc, const char* const* argv );
 
            static std::shared_ptr<PassiveLProcessor> init_plproc( int argc, const char* const* argv,
                    uniset::ObjectId shmID, const std::shared_ptr<SharedMemory>& ic = nullptr,
                    const std::string& prefix = "plproc" );
 
        protected:
            PassiveLProcessor(): shm(0), maxHeartBeat(0) {};
 
            virtual void step() override;
            virtual void getInputs() override;
            virtual void setOuts() override;
 
            void sysCommand( const uniset::SystemMessage* msg ) override;
            void sensorInfo( const uniset::SensorMessage* sm ) override;
            void timerInfo( const uniset::TimerMessage* tm ) override;
            void askSensors( const UniversalIO::UIOCommand cmd );
            //        void initOutput();
 
            void initIterators();
            virtual bool activateObject() override;
            virtual bool deactivateObject() override;
 
            std::shared_ptr<SMInterface> shm;
 
        private:
            PassiveTimer ptHeartBeat;
            uniset::ObjectId sidHeartBeat = { uniset::DefaultObjectId };
            int maxHeartBeat = { 10 };
            IOController::IOStateList::iterator itHeartBeat;
            std::mutex mutex_start;
            std::atomic_bool cannceled = { false };
    };
    // --------------------------------------------------------------------------
} // end of namespace uniset
// ---------------------------------------------------------------------------
#endif