multiplex_base_runner.hpp

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#pragma once
 
#include <thread>
#include <string>
#include <map>
#include <capabilities2_runner/runner_base.hpp>
 
namespace capabilities2_runner
{
class MultiplexBaseRunner : public RunnerBase
{
public:
  MultiplexBaseRunner() : RunnerBase()
  {
  }
 
  virtual void start(rclcpp::Node::SharedPtr node, const runner_opts& run_config) override
  {
    init_base(node, run_config);
  }
 
  virtual void execution(int id)
  {
    info_("execution started for id: " + std::to_string(id));
 
    // check if the id is already completed
    if (completed_executions.find(id) != completed_executions.end() && completed_executions[id])
    {
      info_("execution already completed for id: " + std::to_string(id));
      return;
    }
    else
    {
      // trigger the events related to on_success state
      if (events[id].on_success.interface != "")
      {
        event_(EventType::SUCCEEDED, id, events[id].on_success.interface, events[id].on_success.provider);
        triggerFunction_(events[id].on_success.interface, update_on_success(events[id].on_success.parameters));
      }
      // trigger the events related to on_failure state
      else if (events[id].on_failure.interface != "")
      {
        event_(EventType::FAILED, id, events[id].on_failure.interface, events[id].on_failure.provider);
        triggerFunction_(events[id].on_failure.interface, update_on_failure(events[id].on_failure.parameters));
      }
    }
 
    // track the execution as completed
    completed_executions[id] = true;
 
    info_("multiplexing complete. Thread closing.", id);
  }
 
  virtual void stop() override
  {
    // if the node pointer is empty then throw an error
    // this means that the runner was not started and is being used out of order
 
    if (!node_)
      throw runner_exception("cannot stop runner that was not started");
 
    info_("stopping runner");
  }
 
protected:
  // input count tracker
  std::map<int, int> input_count_tracker;
 
  // expected input count
  std::map<int, int> expected_input_count;
 
  // completed executions
  std::map<int, bool> completed_executions;
};
}  // namespace capabilities2_runner