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 

34 namespace lifecycle

35 {

83 class BaseActivity : public IActivity

84 {

85  public:

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

92 

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

100 

104  virtual ~BaseActivity();

105 

109  std::string GetName() const override;

110 

115  void SetUpCommunication() final;

116 

121  void Step() final;

122 

126  void Shutdown() final;

127 

131  time::Timestamp GetCurrentTimestamp() const final;

132 

136  std::chrono::milliseconds GetCycleTime() const final;

137 

141  std::string GetSimulationOutputDirectory() const final;

142 

146  std::vector<File> GetInputFiles() const final;

147 

148  protected:

152  virtual void Init() {}

153 

157  virtual void ExecuteStep() = 0;

158 

162  virtual void AddPublisherAndSubscriber() = 0;

163 

169  template <typename Topic>

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

171 

177  template <typename Topic>

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

179 

180  private:

185  bool WaitForPubSubConnection() override final;

186 

187  std::string name_;

188  std::shared_ptr<CommunicationManager> communication_manager_ptr_;

189  std::unique_ptr<scheduling::ISchedulerClient> scheduler_client_ptr_;

190  std::chrono::milliseconds timeout_;

191 };

192 

193 } // namespace lifecycle

194 } // namespace core

195 } // namespace simulation_framework