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<h1>substatus.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_SUBSYSTEM_STATUS_H</span>
<a name="l00012"></a>00012 <span class="preprocessor"></span><span class="preprocessor">#define GBXUTILACFR_SUBSYSTEM_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 <gbxutilacfr/status.h></span>
<a name="l00027"></a>00027
<a name="l00028"></a>00028 <span class="keyword">namespace </span>gbxutilacfr {
<a name="l00029"></a>00029
<a name="l00039"></a><a class="code" href="classgbxutilacfr_1_1SubStatus.html">00039</a> <span class="keyword">class </span>GBXUTILACFR_EXPORT <a class="code" href="classgbxutilacfr_1_1SubStatus.html" title="Convenience class which maniupulates the status of a subsystem.">SubStatus</a>
<a name="l00040"></a>00040 {
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="keyword">public</span>:
<a name="l00045"></a><a class="code" href="classgbxutilacfr_1_1SubStatus.html#aa1e74ff50587383c417392acf28eb456">00045</a> <a class="code" href="classgbxutilacfr_1_1SubStatus.html" title="Convenience class which maniupulates the status of a subsystem.">SubStatus</a>( <a class="code" href="classgbxutilacfr_1_1Status.html" title="Local interface to component status.">Status</a>& status, <span class="keyword">const</span> std::string& subsysName, <span class="keywordtype">double</span> maxHeartbeatIntervalSec=-1.0 ) :
<a name="l00046"></a>00046 status_(status),
<a name="l00047"></a>00047 subsysName_(subsysName)
<a name="l00048"></a>00048 {
<a name="l00049"></a>00049 status_.addSubsystem( subsysName_, maxHeartbeatIntervalSec );
<a name="l00050"></a>00050 };
<a name="l00051"></a>00051
<a name="l00053"></a><a class="code" href="classgbxutilacfr_1_1SubStatus.html#ac15313ce52a83008a43b3230a4cb6222">00053</a> ~<a class="code" href="classgbxutilacfr_1_1SubStatus.html" title="Convenience class which maniupulates the status of a subsystem.">SubStatus</a>()
<a name="l00054"></a>00054 {
<a name="l00055"></a>00055 status_.removeSubsystem( subsysName_ );
<a name="l00056"></a>00056 }
<a name="l00057"></a>00057
<a name="l00058"></a>00058 <span class="comment">//</span>
<a name="l00059"></a>00059 <span class="comment">// set expectations about ourselves</span>
<a name="l00060"></a>00060 <span class="comment">//</span>
<a name="l00061"></a>00061
<a name="l00063"></a><a class="code" href="classgbxutilacfr_1_1SubStatus.html#a4e78399a8fb322a4bc1e188c4b007400">00063</a> <span class="keywordtype">void</span> <a class="code" href="classgbxutilacfr_1_1SubStatus.html#a4e78399a8fb322a4bc1e188c4b007400" title="Passes this information to the system Status.">setMaxHeartbeatInterval</a>( <span class="keywordtype">double</span> interval ) { status_.setMaxHeartbeatInterval( subsysName_, interval ); };
<a name="l00064"></a>00064
<a name="l00066"></a><a class="code" href="classgbxutilacfr_1_1SubStatus.html#ac4b3a2cad961a7a91fbe525008ef226a">00066</a> <span class="keywordtype">void</span> <a class="code" href="classgbxutilacfr_1_1SubStatus.html#ac4b3a2cad961a7a91fbe525008ef226a" title="Passes this information to the system Status.">setSubsystemType</a>( <a class="code" href="namespacegbxutilacfr.html#a83955362590d05dc433ff5ba377a704b" title="Subsystem type which describes common behavior models of a subsystem.">SubsystemType</a> type ) { status_.setSubsystemType( subsysName_, type ); };
<a name="l00067"></a>00067
<a name="l00068"></a>00068 <span class="comment">//</span>
<a name="l00069"></a>00069 <span class="comment">// set health</span>
<a name="l00070"></a>00070 <span class="comment">//</span>
<a name="l00071"></a>00071
<a name="l00073"></a><a class="code" href="classgbxutilacfr_1_1SubStatus.html#a5604e9434630cf86af4413de0f9942c9">00073</a> <span class="keywordtype">void</span> <a class="code" href="classgbxutilacfr_1_1SubStatus.html#a5604e9434630cf86af4413de0f9942c9" title="Passes this information to the system Status.">heartbeat</a>() { status_.heartbeat( subsysName_ ); };
<a name="l00074"></a>00074
<a name="l00076"></a><a class="code" href="classgbxutilacfr_1_1SubStatus.html#aeb3ccd98bbd8538f25e025c92a55795d">00076</a> <span class="keywordtype">void</span> <a class="code" href="classgbxutilacfr_1_1SubStatus.html#aeb3ccd98bbd8538f25e025c92a55795d" title="Passes this information to the system Status.">message</a>( <span class="keyword">const</span> std::string& message ) { status_.message( subsysName_, message ); };
<a name="l00077"></a>00077
<a name="l00079"></a><a class="code" href="classgbxutilacfr_1_1SubStatus.html#a0620674f75ac8ef16360d4b3471b3c78">00079</a> <span class="keywordtype">void</span> <a class="code" href="classgbxutilacfr_1_1SubStatus.html#a0620674f75ac8ef16360d4b3471b3c78" title="Passes this information to the system Status.">ok</a>( <span class="keyword">const</span> std::string& message=<span class="stringliteral">""</span> ) { status_.ok( subsysName_, message ); };
<a name="l00080"></a>00080
<a name="l00082"></a><a class="code" href="classgbxutilacfr_1_1SubStatus.html#afe967684ec3aa20ad063a1bbcfc5508b">00082</a> <span class="keywordtype">void</span> <a class="code" href="classgbxutilacfr_1_1SubStatus.html#afe967684ec3aa20ad063a1bbcfc5508b" title="Passes this information to the system Status.">warning</a>( <span class="keyword">const</span> std::string& message ) { status_.warning( subsysName_, message ); };
<a name="l00083"></a>00083
<a name="l00085"></a><a class="code" href="classgbxutilacfr_1_1SubStatus.html#a9a6d1cefde68c7df53a63fe580d2b53c">00085</a> <span class="keywordtype">void</span> <a class="code" href="classgbxutilacfr_1_1SubStatus.html#a9a6d1cefde68c7df53a63fe580d2b53c" title="Passes this information to the system Status.">fault</a>( <span class="keyword">const</span> std::string& message ) { status_.fault( subsysName_, message ); };
<a name="l00086"></a>00086
<a name="l00087"></a>00087 <span class="comment">//</span>
<a name="l00088"></a>00088 <span class="comment">// Set state machine states</span>
<a name="l00089"></a>00089 <span class="comment">//</span>
<a name="l00090"></a>00090
<a name="l00092"></a><a class="code" href="classgbxutilacfr_1_1SubStatus.html#af527b7dfaffc05d73d2d5d10e79e32f6">00092</a> <span class="keywordtype">void</span> <a class="code" href="classgbxutilacfr_1_1SubStatus.html#af527b7dfaffc05d73d2d5d10e79e32f6" title="Passes this information to the system Status.">initialising</a>( <span class="keyword">const</span> std::string& message=<span class="stringliteral">""</span> ) { status_.initialising( subsysName_, message ); };
<a name="l00093"></a>00093
<a name="l00095"></a><a class="code" href="classgbxutilacfr_1_1SubStatus.html#ab9ec3cced0be787a7a4fd3a9ede9bf70">00095</a> <span class="keywordtype">void</span> <a class="code" href="classgbxutilacfr_1_1SubStatus.html#ab9ec3cced0be787a7a4fd3a9ede9bf70" title="Passes this information to the system Status.">working</a>( <span class="keyword">const</span> std::string& message=<span class="stringliteral">""</span> ) { status_.working( subsysName_, message ); };
<a name="l00096"></a>00096
<a name="l00098"></a><a class="code" href="classgbxutilacfr_1_1SubStatus.html#a46b27f8be5d7ef5ab80d520b72120323">00098</a> <span class="keywordtype">void</span> <a class="code" href="classgbxutilacfr_1_1SubStatus.html#a46b27f8be5d7ef5ab80d520b72120323" title="Passes this information to the system Status.">finalising</a>( <span class="keyword">const</span> std::string& message=<span class="stringliteral">""</span> ) { status_.finalising( subsysName_, message ); };
<a name="l00099"></a>00099
<a name="l00100"></a>00100
<a name="l00102"></a><a class="code" href="classgbxutilacfr_1_1SubStatus.html#a6378494b04bda11ca73f1b78f96107f9">00102</a> <a class="code" href="classgbxutilacfr_1_1Status.html" title="Local interface to component status.">Status</a>& <a class="code" href="classgbxutilacfr_1_1SubStatus.html#a6378494b04bda11ca73f1b78f96107f9" title="Returns system Status object.">status</a>() { <span class="keywordflow">return</span> status_; };
<a name="l00103"></a>00103
<a name="l00105"></a><a class="code" href="classgbxutilacfr_1_1SubStatus.html#a13301a0999cbbe7edebf2988f30262f7">00105</a> std::string <a class="code" href="classgbxutilacfr_1_1SubStatus.html#a13301a0999cbbe7edebf2988f30262f7" title="Returns subsystem&#39;s name.">name</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> subsysName_; };
<a name="l00106"></a>00106
<a name="l00107"></a>00107 <span class="keyword">private</span>:
<a name="l00108"></a>00108
<a name="l00109"></a>00109 <a class="code" href="classgbxutilacfr_1_1Status.html" title="Local interface to component status.">Status</a>& status_;
<a name="l00110"></a>00110 std::string subsysName_;
<a name="l00111"></a>00111 };
<a name="l00112"></a>00112
<a name="l00113"></a>00113 } <span class="comment">// namespace</span>
<a name="l00114"></a>00114
<a name="l00115"></a>00115 <span class="preprocessor">#endif</span>
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