process_manager.h

Go to the documentation of this file.

// Copyright (c) Space-ng, inc. All rights reserved.
 
#pragma once
 
#include "sol3/asio/strand.h"
#include "sol3/core/async_periodic.h"
#include "sol3/core/message_input.h"
#include "sol3/core/message_output.h"
#include "sol3/core/shmem_exchange.h"
#include "sol3/process_manager/msg/process_manager_config.h"
#include "sol3/process_manager/process.h"
#include "sol3/process_manager/process_manager_spec.h"
 
#include <boost/asio/io_context.hpp>
 
#include <memory>
 
namespace sol3::process_manager {
 
 
class ProcessManager : public std::enable_shared_from_this<ProcessManager> {
 public:
  static std::shared_ptr<ProcessManager> create(
      asio::Strand strand,
      core::ShmemExchange& exchange,
      msg::ProcessManagerConfigT const& config);
 
  void asyncStart();
 
  void asyncStop();
 
  std::vector<msg::ProcessTelemetryT> testGetProcessTelemetry() const;
 
 private:
  ProcessManager(
      asio::Strand strand,
      core::ShmemExchange& exchange,
      msg::ProcessManagerConfigT const& config);
 
  void start();
 
  void stop();
 
  void handleControlMessage();
 
  msg::ProcessManagerConfigT config_;
 
  std::map<std::string, std::shared_ptr<Process>> processes_;
 
  core::ShmemExchange& exchange_;
 
  core::MessageOutput<ProcessManagerSpec::Config> config_out_;
 
  core::MessageOutput<ProcessManagerSpec::Telemetry> telemetry_;
 
  core::MessageInput<ProcessManagerSpec::Control> control_;
 
  asio::Strand strand_;
 
  std::shared_ptr<core::IAsyncPeriodic> control_periodic_;
 
  std::shared_ptr<core::IAsyncPeriodic> telemetry_periodic_;
};
 
}  // namespace sol3::process_manager