base_activity

1 

5 

6 #pragma once

7 

8 #include "core/communication/i_topic.h"

9 #include "core/lifecycle/activity/i_activity.h"

10 #include "core/scheduler/i_scheduler_client/i_scheduler_client.h"

11 

17 namespace simulation_framework

18 {

19 

24 namespace core

25 {

26 

27 class CommunicationManager;

28 using CommunicationManagerPtr = std::shared_ptr<CommunicationManager>;

29 

35 namespace lifecycle

36 {

84 class BaseActivity : public IActivity

85 {

86  public:

92  BaseActivity(const std::string& activity_name, const Topics& topics);

93 

100  BaseActivity(const std::string& activity_name, const Topics& topics, std::chrono::milliseconds timeout);

101 

105  virtual ~BaseActivity();

106 

110  std::string GetName() const override;

111 

116  void Init() final;

117 

122  void Step() final;

123 

124  protected:

128  virtual void ExecuteStep() = 0;

129 

133  virtual void AddPublisherAndSubscriber() = 0;

134 

140  template <typename Topic>

141  void AddPublisher(const core::TopicId& topic_id, typename Topic::PublisherCallback callback);

142 

148  template <typename Topic>

149  void AddSubscriber(const core::TopicId& topic_id, typename Topic::SubscriberMessageCallback callback);

150 

155  void Shutdown() override final;

156 

157  private:

162  bool WaitForPubSubConnection() override final;

163 

164  std::string name_;

165  CommunicationManagerPtr communication_manager_ptr_;

166  scheduling::ISchedulerClientPtr scheduler_client_ptr_;

167  std::chrono::milliseconds timeout_;

168 };

169 

170 } // namespace lifecycle

171 } // namespace core

172 } // namespace simulation_framework