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<h1>status.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics</span>
<a name="l00003"></a>00003 <span class="comment"> * http://gearbox.sf.net/</span>
<a name="l00004"></a>00004 <span class="comment"> * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> * This distribution is licensed to you under the terms described in</span>
<a name="l00007"></a>00007 <span class="comment"> * the LICENSE file included in this distribution.</span>
<a name="l00008"></a>00008 <span class="comment"> *</span>
<a name="l00009"></a>00009 <span class="comment"> */</span>
<a name="l00010"></a>00010
<a name="l00011"></a>00011 <span class="preprocessor">#ifndef GBXUTILACFR_STATUS_H</span>
<a name="l00012"></a>00012 <span class="preprocessor"></span><span class="preprocessor">#define GBXUTILACFR_STATUS_H</span>
<a name="l00013"></a>00013 <span class="preprocessor"></span>
<a name="l00014"></a>00014 <span class="preprocessor">#if defined (WIN32)</span>
<a name="l00015"></a>00015 <span class="preprocessor"></span><span class="preprocessor"> #if defined (GBXUTILACFR_STATIC)</span>
<a name="l00016"></a>00016 <span class="preprocessor"></span><span class="preprocessor"> #define GBXUTILACFR_EXPORT</span>
<a name="l00017"></a>00017 <span class="preprocessor"></span><span class="preprocessor"> #elif defined (GBXUTILACFR_EXPORTS)</span>
<a name="l00018"></a>00018 <span class="preprocessor"></span><span class="preprocessor"> #define GBXUTILACFR_EXPORT __declspec (dllexport)</span>
<a name="l00019"></a>00019 <span class="preprocessor"></span><span class="preprocessor"> #else</span>
<a name="l00020"></a>00020 <span class="preprocessor"></span><span class="preprocessor"> #define GBXUTILACFR_EXPORT __declspec (dllimport)</span>
<a name="l00021"></a>00021 <span class="preprocessor"></span><span class="preprocessor"> #endif</span>
<a name="l00022"></a>00022 <span class="preprocessor"></span><span class="preprocessor">#else</span>
<a name="l00023"></a>00023 <span class="preprocessor"></span><span class="preprocessor"> #define GBXUTILACFR_EXPORT</span>
<a name="l00024"></a>00024 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00025"></a>00025 <span class="preprocessor"></span>
<a name="l00026"></a>00026 <span class="preprocessor">#include <string></span>
<a name="l00027"></a>00027 <span class="preprocessor">#include <vector></span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="keyword">namespace </span>gbxutilacfr {
<a name="l00030"></a>00030
<a name="l00032"></a><a class="code" href="namespacegbxutilacfr.html#ac09bf420d1b5cd55c617623abbc4587a">00032</a> <span class="keyword">enum</span> <a class="code" href="namespacegbxutilacfr.html#ac09bf420d1b5cd55c617623abbc4587a" title="Possible subsystem status values.">SubsystemState</a>
<a name="l00033"></a>00033 {
<a name="l00035"></a><a class="code" href="namespacegbxutilacfr.html#ac09bf420d1b5cd55c617623abbc4587aa8ce4384dff9ff2ce0c3cbf9455e90712">00035</a> <a class="code" href="namespacegbxutilacfr.html#ac09bf420d1b5cd55c617623abbc4587aa8ce4384dff9ff2ce0c3cbf9455e90712" title="Subsystem has been created but has not started initialisation process.">SubsystemIdle</a>,
<a name="l00037"></a><a class="code" href="namespacegbxutilacfr.html#ac09bf420d1b5cd55c617623abbc4587aa27b936903aefeeab3d0f43ab2f888087">00037</a> <a class="code" href="namespacegbxutilacfr.html#ac09bf420d1b5cd55c617623abbc4587aa27b936903aefeeab3d0f43ab2f888087" title="Subsystem is preparing to work, e.g. initialising its resources, etc.">SubsystemInitialising</a>,
<a name="l00039"></a><a class="code" href="namespacegbxutilacfr.html#ac09bf420d1b5cd55c617623abbc4587aa1be6288b777024ca50529b6bfd87f2a3">00039</a> <a class="code" href="namespacegbxutilacfr.html#ac09bf420d1b5cd55c617623abbc4587aa1be6288b777024ca50529b6bfd87f2a3" title="Subsystem is fully initialised and is performing its function.">SubsystemWorking</a>,
<a name="l00041"></a><a class="code" href="namespacegbxutilacfr.html#ac09bf420d1b5cd55c617623abbc4587aa8c64b0745b5f135b137d62fb132bb60b">00041</a> <a class="code" href="namespacegbxutilacfr.html#ac09bf420d1b5cd55c617623abbc4587aa8c64b0745b5f135b137d62fb132bb60b" title="Subsystem is preparing to shutdown, e.g. releasing its resources, etc.">SubsystemFinalising</a>,
<a name="l00043"></a><a class="code" href="namespacegbxutilacfr.html#ac09bf420d1b5cd55c617623abbc4587aaecc0893aa9db5d998a67ff6de80dfb48">00043</a> <a class="code" href="namespacegbxutilacfr.html#ac09bf420d1b5cd55c617623abbc4587aaecc0893aa9db5d998a67ff6de80dfb48" title="Subsystem is not longer functioning.">SubsystemShutdown</a>
<a name="l00044"></a>00044 };
<a name="l00045"></a>00045
<a name="l00047"></a>00047 GBXUTILACFR_EXPORT std::string <a class="code" href="namespacegbxutilacfr.html#a72e2dc4662c21ddbbf1ba4f5faa8601c" title="Returns string equivalent of state enumerator.">toString</a>( <a class="code" href="namespacegbxutilacfr.html#ac09bf420d1b5cd55c617623abbc4587a" title="Possible subsystem status values.">SubsystemState</a> state );
<a name="l00048"></a>00048
<a name="l00050"></a><a class="code" href="namespacegbxutilacfr.html#a0571161a2ff12c42ebcf2179f88c8a7b">00050</a> <span class="keyword">enum</span> <a class="code" href="namespacegbxutilacfr.html#a0571161a2ff12c42ebcf2179f88c8a7b" title="Possible subsystem status values.">SubsystemHealth</a>
<a name="l00051"></a>00051 {
<a name="l00053"></a><a class="code" href="namespacegbxutilacfr.html#a0571161a2ff12c42ebcf2179f88c8a7ba9fff3f18e6fb75c30e39b0534a72b123">00053</a> <a class="code" href="namespacegbxutilacfr.html#a0571161a2ff12c42ebcf2179f88c8a7ba9fff3f18e6fb75c30e39b0534a72b123" title="Subsystem is OK.">SubsystemOk</a>,
<a name="l00055"></a><a class="code" href="namespacegbxutilacfr.html#a0571161a2ff12c42ebcf2179f88c8a7ba4eeeba5103acab40c1df0c2a66ab2d10">00055</a> <a class="code" href="namespacegbxutilacfr.html#a0571161a2ff12c42ebcf2179f88c8a7ba4eeeba5103acab40c1df0c2a66ab2d10" title="Subsystem has encountered an abnormal but non-fault condition.">SubsystemWarning</a>,
<a name="l00057"></a><a class="code" href="namespacegbxutilacfr.html#a0571161a2ff12c42ebcf2179f88c8a7ba98fae97bb027cd2d2b0567276934a245">00057</a> <a class="code" href="namespacegbxutilacfr.html#a0571161a2ff12c42ebcf2179f88c8a7ba98fae97bb027cd2d2b0567276934a245" title="Subsystem has declared a fault.">SubsystemFault</a>
<a name="l00058"></a>00058 };
<a name="l00059"></a>00059
<a name="l00061"></a>00061 GBXUTILACFR_EXPORT std::string <a class="code" href="namespacegbxutilacfr.html#a72e2dc4662c21ddbbf1ba4f5faa8601c" title="Returns string equivalent of state enumerator.">toString</a>( <a class="code" href="namespacegbxutilacfr.html#a0571161a2ff12c42ebcf2179f88c8a7b" title="Possible subsystem status values.">SubsystemHealth</a> health );
<a name="l00062"></a>00062
<a name="l00064"></a><a class="code" href="structgbxutilacfr_1_1SubsystemStatus.html">00064</a> <span class="keyword">struct </span>GBXUTILACFR_EXPORT <a class="code" href="structgbxutilacfr_1_1SubsystemStatus.html" title="Status for a single subsystem.">SubsystemStatus</a>
<a name="l00065"></a>00065 {
<a name="l00067"></a><a class="code" href="structgbxutilacfr_1_1SubsystemStatus.html#a5e23dffe91dbd5365de785ea29013d66">00067</a> <a class="code" href="structgbxutilacfr_1_1SubsystemStatus.html" title="Status for a single subsystem.">SubsystemStatus</a>( <a class="code" href="namespacegbxutilacfr.html#ac09bf420d1b5cd55c617623abbc4587a" title="Possible subsystem status values.">SubsystemState</a> s=<a class="code" href="namespacegbxutilacfr.html#ac09bf420d1b5cd55c617623abbc4587aa8ce4384dff9ff2ce0c3cbf9455e90712" title="Subsystem has been created but has not started initialisation process.">SubsystemIdle</a>, <a class="code" href="namespacegbxutilacfr.html#a0571161a2ff12c42ebcf2179f88c8a7b" title="Possible subsystem status values.">SubsystemHealth</a> h=<a class="code" href="namespacegbxutilacfr.html#a0571161a2ff12c42ebcf2179f88c8a7ba9fff3f18e6fb75c30e39b0534a72b123" title="Subsystem is OK.">SubsystemOk</a>, <span class="keyword">const</span> std::string& msg=<span class="stringliteral">""</span>,
<a name="l00068"></a>00068 <span class="keywordtype">bool</span> stall=<span class="keyword">false</span>, <span class="keywordtype">double</span> beat=0.0 ) :
<a name="l00069"></a>00069 state(s),
<a name="l00070"></a>00070 health(h),
<a name="l00071"></a>00071 message(msg),
<a name="l00072"></a>00072 isStalled(stall),
<a name="l00073"></a><a class="code" href="structgbxutilacfr_1_1SubsystemStatus.html#af82707e1ad9fff242147d1eb64b6f575">00073</a> sinceHeartbeat(beat) {};
<a name="l00074"></a>00074
<a name="l00076"></a>00076 <a class="code" href="namespacegbxutilacfr.html#ac09bf420d1b5cd55c617623abbc4587a" title="Possible subsystem status values.">SubsystemState</a> state;
<a name="l00077"></a>00077
<a name="l00079"></a><a class="code" href="structgbxutilacfr_1_1SubsystemStatus.html#a413c391ed18f2240641f0bbbd53e632a">00079</a> <a class="code" href="namespacegbxutilacfr.html#a0571161a2ff12c42ebcf2179f88c8a7b" title="Possible subsystem status values.">SubsystemHealth</a> health;
<a name="l00080"></a>00080
<a name="l00082"></a><a class="code" href="structgbxutilacfr_1_1SubsystemStatus.html#a8efec0bae6b6f4c6595afa75ffc8cae7">00082</a> std::string message;
<a name="l00083"></a>00083
<a name="l00085"></a><a class="code" href="structgbxutilacfr_1_1SubsystemStatus.html#ab6184e5618ae2495d5d30911b408b447">00085</a> <span class="keywordtype">bool</span> isStalled;
<a name="l00086"></a>00086
<a name="l00091"></a><a class="code" href="structgbxutilacfr_1_1SubsystemStatus.html#ad24558bd8b0088b8349cc922b37fbc0d">00091</a> <span class="keywordtype">double</span> sinceHeartbeat;
<a name="l00092"></a>00092 };
<a name="l00093"></a>00093
<a name="l00095"></a>00095 GBXUTILACFR_EXPORT std::string <a class="code" href="namespacegbxutilacfr.html#a72e2dc4662c21ddbbf1ba4f5faa8601c" title="Returns string equivalent of state enumerator.">toString</a>( <span class="keyword">const</span> <a class="code" href="structgbxutilacfr_1_1SubsystemStatus.html" title="Status for a single subsystem.">SubsystemStatus</a>& status );
<a name="l00096"></a>00096
<a name="l00098"></a><a class="code" href="namespacegbxutilacfr.html#a83955362590d05dc433ff5ba377a704b">00098</a> <span class="keyword">enum</span> <a class="code" href="namespacegbxutilacfr.html#a83955362590d05dc433ff5ba377a704b" title="Subsystem type which describes common behavior models of a subsystem.">SubsystemType</a> {
<a name="l00100"></a><a class="code" href="namespacegbxutilacfr.html#a83955362590d05dc433ff5ba377a704ba2c269dc5e7f0d620d0c71f22fae3f44a">00100</a> <a class="code" href="namespacegbxutilacfr.html#a83955362590d05dc433ff5ba377a704ba2c269dc5e7f0d620d0c71f22fae3f44a" title="Standard model: subsystem&#39;s life cycle equal to the life cycle of the component...">SubsystemStandard</a>,
<a name="l00102"></a><a class="code" href="namespacegbxutilacfr.html#a83955362590d05dc433ff5ba377a704bae331449cd6445f89558762604276fb56">00102</a> <a class="code" href="namespacegbxutilacfr.html#a83955362590d05dc433ff5ba377a704bae331449cd6445f89558762604276fb56" title="Early exit model: subsystem will intentionally shutdown early.">SubsystemEarlyExit</a>
<a name="l00103"></a>00103 };
<a name="l00104"></a>00104
<a name="l00106"></a>00106 GBXUTILACFR_EXPORT std::string <a class="code" href="namespacegbxutilacfr.html#a72e2dc4662c21ddbbf1ba4f5faa8601c" title="Returns string equivalent of state enumerator.">toString</a>( <a class="code" href="namespacegbxutilacfr.html#a83955362590d05dc433ff5ba377a704b" title="Subsystem type which describes common behavior models of a subsystem.">SubsystemType</a> type );
<a name="l00107"></a>00107
<a name="l00188"></a><a class="code" href="classgbxutilacfr_1_1Status.html">00188</a> <span class="keyword">class </span>GBXUTILACFR_EXPORT <a class="code" href="classgbxutilacfr_1_1Status.html" title="Local interface to component status.">Status</a>
<a name="l00189"></a>00189 {
<a name="l00190"></a>00190
<a name="l00191"></a>00191 <span class="keyword">public</span>:
<a name="l00192"></a>00192
<a name="l00193"></a>00193 <span class="keyword">virtual</span> ~<a class="code" href="classgbxutilacfr_1_1Status.html" title="Local interface to component status.">Status</a>() {};
<a name="l00194"></a>00194
<a name="l00210"></a>00210 <span class="keyword">virtual</span> <span class="keywordtype">void</span> addSubsystem( <span class="keyword">const</span> std::string& subsystem,
<a name="l00211"></a>00211 <span class="keywordtype">double</span> maxHeartbeatIntervalSec=-1.0, <a class="code" href="namespacegbxutilacfr.html#a83955362590d05dc433ff5ba377a704b" title="Subsystem type which describes common behavior models of a subsystem.">SubsystemType</a> type=<a class="code" href="namespacegbxutilacfr.html#a83955362590d05dc433ff5ba377a704ba2c269dc5e7f0d620d0c71f22fae3f44a" title="Standard model: subsystem&#39;s life cycle equal to the life cycle of the component...">SubsystemStandard</a> )=0;
<a name="l00212"></a>00212
<a name="l00215"></a>00215 <span class="keyword">virtual</span> <span class="keywordtype">void</span> removeSubsystem( <span class="keyword">const</span> std::string& subsystem )=0;
<a name="l00216"></a>00216
<a name="l00218"></a>00218 <span class="keyword">virtual</span> std::vector<std::string> subsystems()=0;
<a name="l00219"></a>00219
<a name="l00222"></a>00222 <span class="keyword">virtual</span> <a class="code" href="structgbxutilacfr_1_1SubsystemStatus.html" title="Status for a single subsystem.">SubsystemStatus</a> subsystemStatus( <span class="keyword">const</span> std::string& subsystem )=0;
<a name="l00223"></a>00223
<a name="l00225"></a>00225 <span class="keyword">virtual</span> <a class="code" href="namespacegbxutilacfr.html#ac09bf420d1b5cd55c617623abbc4587a" title="Possible subsystem status values.">SubsystemState</a> infrastructureState()=0;
<a name="l00226"></a>00226
<a name="l00231"></a>00231 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setMaxHeartbeatInterval( <span class="keyword">const</span> std::string& subsystem, <span class="keywordtype">double</span> intervalSec )=0;
<a name="l00232"></a>00232
<a name="l00234"></a>00234 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setSubsystemType( <span class="keyword">const</span> std::string& subsystem, <a class="code" href="namespacegbxutilacfr.html#a83955362590d05dc433ff5ba377a704b" title="Subsystem type which describes common behavior models of a subsystem.">SubsystemType</a> type )=0;
<a name="l00235"></a>00235
<a name="l00236"></a>00236 <span class="comment">//</span>
<a name="l00237"></a>00237 <span class="comment">// BOTH STATE AND HEALTH CHANGES</span>
<a name="l00238"></a>00238 <span class="comment">//</span>
<a name="l00239"></a>00239
<a name="l00243"></a>00243 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setSubsystemStatus( <span class="keyword">const</span> std::string& subsystem, <a class="code" href="namespacegbxutilacfr.html#ac09bf420d1b5cd55c617623abbc4587a" title="Possible subsystem status values.">SubsystemState</a> state, <a class="code" href="namespacegbxutilacfr.html#a0571161a2ff12c42ebcf2179f88c8a7b" title="Possible subsystem status values.">SubsystemHealth</a> health, <span class="keyword">const</span> std::string& message=<span class="stringliteral">""</span> )=0;
<a name="l00244"></a>00244
<a name="l00245"></a>00245 <span class="comment">//</span>
<a name="l00246"></a>00246 <span class="comment">// STATE CHANGES</span>
<a name="l00247"></a>00247 <span class="comment">//</span>
<a name="l00248"></a>00248
<a name="l00251"></a>00251 <span class="keyword">virtual</span> <span class="keywordtype">void</span> initialising( <span class="keyword">const</span> std::string& subsystem, <span class="keyword">const</span> std::string& message=<span class="stringliteral">""</span> )=0;
<a name="l00252"></a>00252
<a name="l00255"></a>00255 <span class="keyword">virtual</span> <span class="keywordtype">void</span> working( <span class="keyword">const</span> std::string& subsystem, <span class="keyword">const</span> std::string& message=<span class="stringliteral">""</span> )=0;
<a name="l00256"></a>00256
<a name="l00259"></a>00259 <span class="keyword">virtual</span> <span class="keywordtype">void</span> finalising( <span class="keyword">const</span> std::string& subsystem, <span class="keyword">const</span> std::string& message=<span class="stringliteral">""</span> )=0;
<a name="l00260"></a>00260
<a name="l00261"></a>00261 <span class="comment">//</span>
<a name="l00262"></a>00262 <span class="comment">// HEALTH CHANGES</span>
<a name="l00263"></a>00263 <span class="comment">//</span>
<a name="l00264"></a>00264
<a name="l00267"></a>00267 <span class="keyword">virtual</span> <span class="keywordtype">void</span> ok( <span class="keyword">const</span> std::string& subsystem, <span class="keyword">const</span> std::string& message=<span class="stringliteral">""</span> )=0;
<a name="l00268"></a>00268
<a name="l00271"></a>00271 <span class="keyword">virtual</span> <span class="keywordtype">void</span> warning( <span class="keyword">const</span> std::string& subsystem, <span class="keyword">const</span> std::string& message )=0;
<a name="l00272"></a>00272
<a name="l00275"></a>00275 <span class="keyword">virtual</span> <span class="keywordtype">void</span> fault( <span class="keyword">const</span> std::string& subsystem, <span class="keyword">const</span> std::string& message )=0;
<a name="l00276"></a>00276
<a name="l00277"></a>00277 <span class="comment">//</span>
<a name="l00278"></a>00278 <span class="comment">// NO CHANGE</span>
<a name="l00279"></a>00279 <span class="comment">//</span>
<a name="l00280"></a>00280
<a name="l00284"></a>00284 <span class="keyword">virtual</span> <span class="keywordtype">void</span> heartbeat( <span class="keyword">const</span> std::string& subsystem )=0;
<a name="l00285"></a>00285
<a name="l00288"></a>00288 <span class="keyword">virtual</span> <span class="keywordtype">void</span> message( <span class="keyword">const</span> std::string& subsystem, <span class="keyword">const</span> std::string& message )=0;
<a name="l00289"></a>00289
<a name="l00290"></a>00290 <span class="comment">//</span>
<a name="l00291"></a>00291 <span class="comment">// INFRASTRUCTURE STATE CHANGES</span>
<a name="l00292"></a>00292 <span class="comment">//</span>
<a name="l00294"></a>00294 <span class="comment"></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> infrastructureInitialising()=0;
<a name="l00296"></a>00296 <span class="keyword">virtual</span> <span class="keywordtype">void</span> infrastructureWorking()=0;
<a name="l00298"></a>00298 <span class="keyword">virtual</span> <span class="keywordtype">void</span> infrastructureFinalising()=0;
<a name="l00299"></a>00299
<a name="l00300"></a>00300 <span class="comment">//</span>
<a name="l00301"></a>00301 <span class="comment">// Utility</span>
<a name="l00302"></a>00302 <span class="comment">//</span>
<a name="l00303"></a>00303
<a name="l00306"></a>00306 <span class="keyword">virtual</span> <span class="keywordtype">void</span> process()=0;
<a name="l00307"></a>00307 };
<a name="l00308"></a>00308
<a name="l00309"></a>00309 } <span class="comment">// namespace</span>
<a name="l00310"></a>00310
<a name="l00311"></a>00311 <span class="preprocessor">#endif</span>
</pre></div></div>
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