rtitask.hpp

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/***
 *** See the file "L2_RTI_EO1/disclaimers-and-notices-L2.txt" for 
 *** information on usage and redistribution of this file, 
 *** and for a DISCLAIMER OF ALL WARRANTIES.
 ***/
/**
 * \defgroup RTI
 * The RTI module receives messages from SCL and sends messages to Livingstone.
 */

#ifndef RTITask_H
#define RTITask_H

#include "SCL2L2Interface.h"
#include "Policy.hpp"

/**
 * Method listenForMonitorEvents() runs in its own task. This task receives
 * messages from the SCL task and, using its Policy object to decide the
 * timing, in response sends messages to the L2Task. Upon exit, it sends an
 * exit message to the L2Task.
 * \ingroup RTI
 */
class RTITask {
 public:
  /** The default constructor does nothing. */
  RTITask( void );

  /** The destructor sends an exit message to the L2Task. */
  ~RTITask( void );

  /** This member function runs in its own task. */
  void listenForMonitorEvents( void );

 private:
  /**
   * Serves the RTITask by deciding when to send to Livingstone 2 commands,
   * observations and request for diagnoses.
   */
  Policy d_policy;

  /**
   * Dispatch on the incoming message's op code
   * \param monitor an incoming message from SCL
   */
  int invokePolicy(MONITOR_DATA& monitor);
};

#endif /* RTITask_H */