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FairMQ/v1.4.14/Topology_8h_source.html
Alexey Rybalchenko 6101a6678e Add API docs for 1.4.14
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">/********************************************************************************</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="comment"> * Copyright (C) 2019 GSI Helmholtzzentrum fuer Schwerionenforschung GmbH *</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="comment"> * *</span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="comment"> * This software is distributed under the terms of the *</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160;<span class="comment"> * GNU Lesser General Public Licence (LGPL) version 3, *</span></div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="comment"> * copied verbatim in the file &quot;LICENSE&quot; *</span></div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;<span class="comment"> ********************************************************************************/</span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="preprocessor">#ifndef FAIR_MQ_SDK_TOPOLOGY_H</span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="preprocessor">#define FAIR_MQ_SDK_TOPOLOGY_H</span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;<span class="preprocessor">#include &lt;fairmq/sdk/AsioAsyncOp.h&gt;</span></div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160;<span class="preprocessor">#include &lt;fairmq/sdk/AsioBase.h&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="preprocessor">#include &lt;fairmq/sdk/commands/Commands.h&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;<span class="preprocessor">#include &lt;fairmq/sdk/DDSCollection.h&gt;</span></div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160;<span class="preprocessor">#include &lt;fairmq/sdk/DDSInfo.h&gt;</span></div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;<span class="preprocessor">#include &lt;fairmq/sdk/DDSSession.h&gt;</span></div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160;<span class="preprocessor">#include &lt;fairmq/sdk/DDSTask.h&gt;</span></div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;<span class="preprocessor">#include &lt;fairmq/sdk/DDSTopology.h&gt;</span></div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160;<span class="preprocessor">#include &lt;fairmq/sdk/Error.h&gt;</span></div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160;<span class="preprocessor">#include &lt;fairmq/States.h&gt;</span></div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160;<span class="preprocessor">#include &lt;fairmq/tools/Semaphore.h&gt;</span></div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160;<span class="preprocessor">#include &lt;fairmq/tools/Unique.h&gt;</span></div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160;</div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160;<span class="preprocessor">#include &lt;fairlogger/Logger.h&gt;</span></div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160;<span class="preprocessor">#ifndef FAIR_LOG</span></div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160;<span class="preprocessor">#define FAIR_LOG LOG</span></div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* ifndef FAIR_LOG */</span><span class="preprocessor"></span></div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160;<span class="preprocessor">#include &lt;asio/associated_executor.hpp&gt;</span></div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160;<span class="preprocessor">#include &lt;asio/async_result.hpp&gt;</span></div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160;<span class="preprocessor">#include &lt;asio/steady_timer.hpp&gt;</span></div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160;<span class="preprocessor">#include &lt;asio/system_executor.hpp&gt;</span></div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160;<span class="preprocessor">#include &lt;algorithm&gt;</span></div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160;<span class="preprocessor">#include &lt;chrono&gt;</span></div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span>&#160;<span class="preprocessor">#include &lt;condition_variable&gt;</span></div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span>&#160;<span class="preprocessor">#include &lt;functional&gt;</span></div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160;<span class="preprocessor">#include &lt;map&gt;</span></div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span>&#160;<span class="preprocessor">#include &lt;mutex&gt;</span></div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160;<span class="preprocessor">#include &lt;ostream&gt;</span></div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span>&#160;<span class="preprocessor">#include &lt;set&gt;</span></div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span>&#160;<span class="preprocessor">#include &lt;stdexcept&gt;</span></div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span>&#160;<span class="preprocessor">#include &lt;thread&gt;</span></div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span>&#160;<span class="preprocessor">#include &lt;unordered_map&gt;</span></div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span>&#160;<span class="preprocessor">#include &lt;utility&gt;</span></div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacefair.html">fair</a> {</div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span>&#160;<span class="keyword">namespace </span>mq {</div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span>&#160;<span class="keyword">namespace </span>sdk {</div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span>&#160;<span class="keyword">using</span> DeviceId = std::string;</div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span>&#160;<span class="keyword">using</span> DeviceState = fair::mq::State;</div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span>&#160;<span class="keyword">using</span> DeviceTransition = fair::mq::Transition;</div><div class="line"><a name="l00058"></a><span class="lineno"> 58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span>&#160;<span class="keyword">const</span> std::map&lt;DeviceTransition, DeviceState&gt; expectedState =</div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span>&#160;{</div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span>&#160; { DeviceTransition::InitDevice, DeviceState::InitializingDevice },</div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span>&#160; { DeviceTransition::CompleteInit, DeviceState::Initialized },</div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span>&#160; { DeviceTransition::Bind, DeviceState::Bound },</div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span>&#160; { DeviceTransition::Connect, DeviceState::DeviceReady },</div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span>&#160; { DeviceTransition::InitTask, DeviceState::Ready },</div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span>&#160; { DeviceTransition::Run, DeviceState::Running },</div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span>&#160; { DeviceTransition::Stop, DeviceState::Ready },</div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span>&#160; { DeviceTransition::ResetTask, DeviceState::DeviceReady },</div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span>&#160; { DeviceTransition::ResetDevice, DeviceState::Idle },</div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span>&#160; { DeviceTransition::End, DeviceState::Exiting }</div><div class="line"><a name="l00071"></a><span class="lineno"> 71</span>&#160;};</div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span>&#160;</div><div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="structfair_1_1mq_1_1sdk_1_1DeviceStatus.html"> 73</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structfair_1_1mq_1_1sdk_1_1DeviceStatus.html">DeviceStatus</a></div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span>&#160;{</div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span>&#160; <span class="keywordtype">bool</span> subscribed_to_state_changes;</div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span>&#160; DeviceState lastState;</div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span>&#160; DeviceState state;</div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span>&#160; DDSTask::Id taskId;</div><div class="line"><a name="l00079"></a><span class="lineno"> 79</span>&#160; DDSCollection::Id collectionId;</div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span>&#160;};</div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span>&#160;</div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span>&#160;<span class="keyword">using</span> DeviceProperty = std::pair&lt;std::string, std::string&gt;; </div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span>&#160;<span class="keyword">using</span> DeviceProperties = std::vector&lt;DeviceProperty&gt;;</div><div class="line"><a name="l00084"></a><span class="lineno"> 84</span>&#160;<span class="keyword">using</span> DevicePropertyQuery = std::string; </div><div class="line"><a name="l00085"></a><span class="lineno"> 85</span>&#160;<span class="keyword">using</span> FailedDevices = std::set&lt;DeviceId&gt;;</div><div class="line"><a name="l00086"></a><span class="lineno"> 86</span>&#160;</div><div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="structfair_1_1mq_1_1sdk_1_1GetPropertiesResult.html"> 87</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structfair_1_1mq_1_1sdk_1_1GetPropertiesResult.html">GetPropertiesResult</a></div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span>&#160;{</div><div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="structfair_1_1mq_1_1sdk_1_1GetPropertiesResult_1_1Device.html"> 89</a></span>&#160; <span class="keyword">struct </span><a class="code" href="structfair_1_1mq_1_1sdk_1_1GetPropertiesResult_1_1Device.html">Device</a></div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span>&#160; {</div><div class="line"><a name="l00091"></a><span class="lineno"> 91</span>&#160; DeviceProperties props;</div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span>&#160; };</div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span>&#160; std::unordered_map&lt;DeviceId, Device&gt; devices;</div><div class="line"><a name="l00094"></a><span class="lineno"> 94</span>&#160; FailedDevices failed;</div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span>&#160;};</div><div class="line"><a name="l00096"></a><span class="lineno"> 96</span>&#160;</div><div class="line"><a name="l00097"></a><span class="lineno"> 97</span>&#160;<span class="keyword">using</span> TopologyState = std::vector&lt;DeviceStatus&gt;;</div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span>&#160;<span class="keyword">using</span> TopologyStateIndex = std::unordered_map&lt;DDSTask::Id, int&gt;; <span class="comment">// task id -&gt; index in the data vector</span></div><div class="line"><a name="l00099"></a><span class="lineno"> 99</span>&#160;<span class="keyword">using</span> TopologyStateByTask = std::unordered_map&lt;DDSTask::Id, DeviceStatus&gt;;</div><div class="line"><a name="l00100"></a><span class="lineno"> 100</span>&#160;<span class="keyword">using</span> TopologyStateByCollection = std::unordered_map&lt;DDSCollection::Id, std::vector&lt;DeviceStatus&gt;&gt;;</div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span>&#160;<span class="keyword">using</span> TopologyTransition = fair::mq::Transition;</div><div class="line"><a name="l00102"></a><span class="lineno"> 102</span>&#160;</div><div class="line"><a name="l00103"></a><span class="lineno"> 103</span>&#160;<span class="keyword">inline</span> DeviceState AggregateState(<span class="keyword">const</span> TopologyState&amp; topologyState)</div><div class="line"><a name="l00104"></a><span class="lineno"> 104</span>&#160;{</div><div class="line"><a name="l00105"></a><span class="lineno"> 105</span>&#160; DeviceState first = topologyState.begin()-&gt;state;</div><div class="line"><a name="l00106"></a><span class="lineno"> 106</span>&#160;</div><div class="line"><a name="l00107"></a><span class="lineno"> 107</span>&#160; <span class="keywordflow">if</span> (std::all_of(topologyState.cbegin(), topologyState.cend(), [&amp;](TopologyState::value_type i) {</div><div class="line"><a name="l00108"></a><span class="lineno"> 108</span>&#160; <span class="keywordflow">return</span> i.state == first;</div><div class="line"><a name="l00109"></a><span class="lineno"> 109</span>&#160; })) {</div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span>&#160; <span class="keywordflow">return</span> first;</div><div class="line"><a name="l00111"></a><span class="lineno"> 111</span>&#160; }</div><div class="line"><a name="l00112"></a><span class="lineno"> 112</span>&#160;</div><div class="line"><a name="l00113"></a><span class="lineno"> 113</span>&#160; <span class="keywordflow">throw</span> <a class="code" href="structfair_1_1mq_1_1sdk_1_1MixedStateError.html">MixedStateError</a>(<span class="stringliteral">&quot;State is not uniform&quot;</span>);</div><div class="line"><a name="l00114"></a><span class="lineno"> 114</span>&#160;}</div><div class="line"><a name="l00115"></a><span class="lineno"> 115</span>&#160;</div><div class="line"><a name="l00116"></a><span class="lineno"> 116</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> StateEqualsTo(<span class="keyword">const</span> TopologyState&amp; topologyState, DeviceState state)</div><div class="line"><a name="l00117"></a><span class="lineno"> 117</span>&#160;{</div><div class="line"><a name="l00118"></a><span class="lineno"> 118</span>&#160; <span class="keywordflow">return</span> AggregateState(topologyState) == state;</div><div class="line"><a name="l00119"></a><span class="lineno"> 119</span>&#160;}</div><div class="line"><a name="l00120"></a><span class="lineno"> 120</span>&#160;</div><div class="line"><a name="l00121"></a><span class="lineno"> 121</span>&#160;<span class="keyword">inline</span> TopologyStateByCollection GroupByCollectionId(<span class="keyword">const</span> TopologyState&amp; topologyState)</div><div class="line"><a name="l00122"></a><span class="lineno"> 122</span>&#160;{</div><div class="line"><a name="l00123"></a><span class="lineno"> 123</span>&#160; TopologyStateByCollection state;</div><div class="line"><a name="l00124"></a><span class="lineno"> 124</span>&#160; <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; ds : topologyState) {</div><div class="line"><a name="l00125"></a><span class="lineno"> 125</span>&#160; <span class="keywordflow">if</span> (ds.collectionId != 0) {</div><div class="line"><a name="l00126"></a><span class="lineno"> 126</span>&#160; state[ds.collectionId].push_back(ds);</div><div class="line"><a name="l00127"></a><span class="lineno"> 127</span>&#160; }</div><div class="line"><a name="l00128"></a><span class="lineno"> 128</span>&#160; }</div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span>&#160;</div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span>&#160; <span class="keywordflow">return</span> state;</div><div class="line"><a name="l00131"></a><span class="lineno"> 131</span>&#160;}</div><div class="line"><a name="l00132"></a><span class="lineno"> 132</span>&#160;</div><div class="line"><a name="l00133"></a><span class="lineno"> 133</span>&#160;<span class="keyword">inline</span> TopologyStateByTask GroupByTaskId(<span class="keyword">const</span> TopologyState&amp; topologyState)</div><div class="line"><a name="l00134"></a><span class="lineno"> 134</span>&#160;{</div><div class="line"><a name="l00135"></a><span class="lineno"> 135</span>&#160; TopologyStateByTask state;</div><div class="line"><a name="l00136"></a><span class="lineno"> 136</span>&#160; <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; ds : topologyState) {</div><div class="line"><a name="l00137"></a><span class="lineno"> 137</span>&#160; state[ds.taskId] = ds;</div><div class="line"><a name="l00138"></a><span class="lineno"> 138</span>&#160; }</div><div class="line"><a name="l00139"></a><span class="lineno"> 139</span>&#160;</div><div class="line"><a name="l00140"></a><span class="lineno"> 140</span>&#160; <span class="keywordflow">return</span> state;</div><div class="line"><a name="l00141"></a><span class="lineno"> 141</span>&#160;}</div><div class="line"><a name="l00142"></a><span class="lineno"> 142</span>&#160;</div><div class="line"><a name="l00153"></a><span class="lineno"> 153</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Executor, <span class="keyword">typename</span> Allocator&gt;</div><div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html"> 154</a></span>&#160;<span class="keyword">class </span><a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html">BasicTopology</a> : <span class="keyword">public</span> <a class="code" href="classfair_1_1mq_1_1sdk_1_1AsioBase.html">AsioBase</a>&lt;Executor, Allocator&gt;</div><div class="line"><a name="l00155"></a><span class="lineno"> 155</span>&#160;{</div><div class="line"><a name="l00156"></a><span class="lineno"> 156</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00160"></a><span class="lineno"><a class="line" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a1e6efa6c7cb826022280e0ba5c2bd9d9"> 160</a></span>&#160; <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a1e6efa6c7cb826022280e0ba5c2bd9d9">BasicTopology</a>(<a class="code" href="classfair_1_1mq_1_1sdk_1_1DDSTopology.html">DDSTopology</a> topo, <a class="code" href="classfair_1_1mq_1_1sdk_1_1DDSSession.html">DDSSession</a> session)</div><div class="line"><a name="l00161"></a><span class="lineno"> 161</span>&#160; : <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html">BasicTopology</a>&lt;Executor, Allocator&gt;(<a class="code" href="namespaceasio.html">asio</a>::system_executor(), <a class="code" href="namespacestd.html">std</a>::move(topo), <a class="code" href="namespacestd.html">std</a>::move(session))</div><div class="line"><a name="l00162"></a><span class="lineno"> 162</span>&#160; {}</div><div class="line"><a name="l00163"></a><span class="lineno"> 163</span>&#160;</div><div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a50e4f6e8631802ff17ca37e1623c4261"> 169</a></span>&#160; <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a50e4f6e8631802ff17ca37e1623c4261">BasicTopology</a>(<span class="keyword">const</span> Executor&amp; ex,</div><div class="line"><a name="l00170"></a><span class="lineno"> 170</span>&#160; <a class="code" href="classfair_1_1mq_1_1sdk_1_1DDSTopology.html">DDSTopology</a> topo,</div><div class="line"><a name="l00171"></a><span class="lineno"> 171</span>&#160; <a class="code" href="classfair_1_1mq_1_1sdk_1_1DDSSession.html">DDSSession</a> session,</div><div class="line"><a name="l00172"></a><span class="lineno"> 172</span>&#160; Allocator alloc = DefaultAllocator())</div><div class="line"><a name="l00173"></a><span class="lineno"> 173</span>&#160; : <a class="code" href="classfair_1_1mq_1_1sdk_1_1AsioBase.html">AsioBase</a>&lt;Executor, Allocator&gt;(ex, <a class="code" href="namespacestd.html">std</a>::move(alloc))</div><div class="line"><a name="l00174"></a><span class="lineno"> 174</span>&#160; , fDDSSession(<a class="code" href="namespacestd.html">std</a>::move(session))</div><div class="line"><a name="l00175"></a><span class="lineno"> 175</span>&#160; , fDDSTopo(<a class="code" href="namespacestd.html">std</a>::move(topo))</div><div class="line"><a name="l00176"></a><span class="lineno"> 176</span>&#160; , fStateData()</div><div class="line"><a name="l00177"></a><span class="lineno"> 177</span>&#160; , fStateIndex()</div><div class="line"><a name="l00178"></a><span class="lineno"> 178</span>&#160; , fHeartbeatsTimer(<a class="code" href="namespaceasio.html">asio</a>::system_executor())</div><div class="line"><a name="l00179"></a><span class="lineno"> 179</span>&#160; , fHeartbeatInterval(600000)</div><div class="line"><a name="l00180"></a><span class="lineno"> 180</span>&#160; {</div><div class="line"><a name="l00181"></a><span class="lineno"> 181</span>&#160; makeTopologyState();</div><div class="line"><a name="l00182"></a><span class="lineno"> 182</span>&#160;</div><div class="line"><a name="l00183"></a><span class="lineno"> 183</span>&#160; std::string activeTopo(fDDSSession.RequestCommanderInfo().activeTopologyName);</div><div class="line"><a name="l00184"></a><span class="lineno"> 184</span>&#160; std::string givenTopo(fDDSTopo.GetName());</div><div class="line"><a name="l00185"></a><span class="lineno"> 185</span>&#160; <span class="keywordflow">if</span> (activeTopo != givenTopo) {</div><div class="line"><a name="l00186"></a><span class="lineno"> 186</span>&#160; <span class="keywordflow">throw</span> <a class="code" href="structfair_1_1mq_1_1sdk_1_1RuntimeError.html">RuntimeError</a>(<span class="stringliteral">&quot;Given topology &quot;</span>, givenTopo, <span class="stringliteral">&quot; is not activated (active: &quot;</span>, activeTopo, <span class="stringliteral">&quot;)&quot;</span>);</div><div class="line"><a name="l00187"></a><span class="lineno"> 187</span>&#160; }</div><div class="line"><a name="l00188"></a><span class="lineno"> 188</span>&#160;</div><div class="line"><a name="l00189"></a><span class="lineno"> 189</span>&#160; SubscribeToCommands();</div><div class="line"><a name="l00190"></a><span class="lineno"> 190</span>&#160;</div><div class="line"><a name="l00191"></a><span class="lineno"> 191</span>&#160; fDDSSession.StartDDSService();</div><div class="line"><a name="l00192"></a><span class="lineno"> 192</span>&#160; SubscribeToStateChanges();</div><div class="line"><a name="l00193"></a><span class="lineno"> 193</span>&#160; }</div><div class="line"><a name="l00194"></a><span class="lineno"> 194</span>&#160;</div><div class="line"><a name="l00196"></a><span class="lineno"> 196</span>&#160; <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html">BasicTopology</a>(<span class="keyword">const</span> <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html">BasicTopology</a>&amp;) = <span class="keyword">delete</span>;</div><div class="line"><a name="l00197"></a><span class="lineno"> 197</span>&#160; <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html">BasicTopology</a>&amp; operator=(<span class="keyword">const</span> <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html">BasicTopology</a>&amp;) = <span class="keyword">delete</span>;</div><div class="line"><a name="l00198"></a><span class="lineno"> 198</span>&#160;</div><div class="line"><a name="l00200"></a><span class="lineno"> 200</span>&#160; <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html">BasicTopology</a>(<a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html">BasicTopology</a>&amp;&amp;) = <span class="keywordflow">default</span>;</div><div class="line"><a name="l00201"></a><span class="lineno"> 201</span>&#160; <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html">BasicTopology</a>&amp; operator=(<a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html">BasicTopology</a>&amp;&amp;) = <span class="keywordflow">default</span>;</div><div class="line"><a name="l00202"></a><span class="lineno"> 202</span>&#160;</div><div class="line"><a name="l00203"></a><span class="lineno"> 203</span>&#160; ~<a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html">BasicTopology</a>()</div><div class="line"><a name="l00204"></a><span class="lineno"> 204</span>&#160; {</div><div class="line"><a name="l00205"></a><span class="lineno"> 205</span>&#160; UnsubscribeFromStateChanges();</div><div class="line"><a name="l00206"></a><span class="lineno"> 206</span>&#160;</div><div class="line"><a name="l00207"></a><span class="lineno"> 207</span>&#160; std::lock_guard&lt;std::mutex&gt; lk(fMtx);</div><div class="line"><a name="l00208"></a><span class="lineno"> 208</span>&#160; fDDSSession.UnsubscribeFromCommands();</div><div class="line"><a name="l00209"></a><span class="lineno"> 209</span>&#160; <span class="keywordflow">try</span> {</div><div class="line"><a name="l00210"></a><span class="lineno"> 210</span>&#160; <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; op : fChangeStateOps) {</div><div class="line"><a name="l00211"></a><span class="lineno"> 211</span>&#160; op.second.Complete(MakeErrorCode(ErrorCode::OperationCanceled));</div><div class="line"><a name="l00212"></a><span class="lineno"> 212</span>&#160; }</div><div class="line"><a name="l00213"></a><span class="lineno"> 213</span>&#160; } <span class="keywordflow">catch</span> (...) {}</div><div class="line"><a name="l00214"></a><span class="lineno"> 214</span>&#160; }</div><div class="line"><a name="l00215"></a><span class="lineno"> 215</span>&#160;</div><div class="line"><a name="l00216"></a><span class="lineno"> 216</span>&#160; <span class="keywordtype">void</span> SubscribeToStateChanges()</div><div class="line"><a name="l00217"></a><span class="lineno"> 217</span>&#160; {</div><div class="line"><a name="l00218"></a><span class="lineno"> 218</span>&#160; <span class="comment">// FAIR_LOG(debug) &lt;&lt; &quot;Subscribing to state change&quot;;</span></div><div class="line"><a name="l00219"></a><span class="lineno"> 219</span>&#160; <a class="code" href="structfair_1_1mq_1_1sdk_1_1cmd_1_1Cmds.html">cmd::Cmds</a> cmds(cmd::make&lt;cmd::SubscribeToStateChange&gt;(fHeartbeatInterval.count()));</div><div class="line"><a name="l00220"></a><span class="lineno"> 220</span>&#160; fDDSSession.SendCommand(cmds.Serialize());</div><div class="line"><a name="l00221"></a><span class="lineno"> 221</span>&#160;</div><div class="line"><a name="l00222"></a><span class="lineno"> 222</span>&#160; fHeartbeatsTimer.expires_after(fHeartbeatInterval);</div><div class="line"><a name="l00223"></a><span class="lineno"> 223</span>&#160; fHeartbeatsTimer.async_wait(std::bind(&amp;BasicTopology::SendSubscriptionHeartbeats, <span class="keyword">this</span>, std::placeholders::_1));</div><div class="line"><a name="l00224"></a><span class="lineno"> 224</span>&#160; }</div><div class="line"><a name="l00225"></a><span class="lineno"> 225</span>&#160;</div><div class="line"><a name="l00226"></a><span class="lineno"> 226</span>&#160; <span class="keywordtype">void</span> SendSubscriptionHeartbeats(<span class="keyword">const</span> std::error_code&amp; ec)</div><div class="line"><a name="l00227"></a><span class="lineno"> 227</span>&#160; {</div><div class="line"><a name="l00228"></a><span class="lineno"> 228</span>&#160; <span class="keywordflow">if</span> (!ec) {</div><div class="line"><a name="l00229"></a><span class="lineno"> 229</span>&#160; <span class="comment">// Timer expired.</span></div><div class="line"><a name="l00230"></a><span class="lineno"> 230</span>&#160; fDDSSession.SendCommand(<a class="code" href="structfair_1_1mq_1_1sdk_1_1cmd_1_1Cmds.html">cmd::Cmds</a>(cmd::make&lt;cmd::SubscriptionHeartbeat&gt;(fHeartbeatInterval.count())).Serialize());</div><div class="line"><a name="l00231"></a><span class="lineno"> 231</span>&#160; <span class="comment">// schedule again</span></div><div class="line"><a name="l00232"></a><span class="lineno"> 232</span>&#160; fHeartbeatsTimer.expires_after(fHeartbeatInterval);</div><div class="line"><a name="l00233"></a><span class="lineno"> 233</span>&#160; fHeartbeatsTimer.async_wait(std::bind(&amp;BasicTopology::SendSubscriptionHeartbeats, <span class="keyword">this</span>, std::placeholders::_1));</div><div class="line"><a name="l00234"></a><span class="lineno"> 234</span>&#160; } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (ec == asio::error::operation_aborted) {</div><div class="line"><a name="l00235"></a><span class="lineno"> 235</span>&#160; <span class="comment">// FAIR_LOG(debug) &lt;&lt; &quot;Heartbeats timer canceled&quot;;</span></div><div class="line"><a name="l00236"></a><span class="lineno"> 236</span>&#160; } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00237"></a><span class="lineno"> 237</span>&#160; FAIR_LOG(error) &lt;&lt; <span class="stringliteral">&quot;Timer error: &quot;</span> &lt;&lt; ec;</div><div class="line"><a name="l00238"></a><span class="lineno"> 238</span>&#160; }</div><div class="line"><a name="l00239"></a><span class="lineno"> 239</span>&#160; }</div><div class="line"><a name="l00240"></a><span class="lineno"> 240</span>&#160;</div><div class="line"><a name="l00241"></a><span class="lineno"> 241</span>&#160; <span class="keywordtype">void</span> UnsubscribeFromStateChanges()</div><div class="line"><a name="l00242"></a><span class="lineno"> 242</span>&#160; {</div><div class="line"><a name="l00243"></a><span class="lineno"> 243</span>&#160; <span class="comment">// stop sending heartbeats</span></div><div class="line"><a name="l00244"></a><span class="lineno"> 244</span>&#160; fHeartbeatsTimer.cancel();</div><div class="line"><a name="l00245"></a><span class="lineno"> 245</span>&#160;</div><div class="line"><a name="l00246"></a><span class="lineno"> 246</span>&#160; <span class="comment">// unsubscribe from state changes</span></div><div class="line"><a name="l00247"></a><span class="lineno"> 247</span>&#160; fDDSSession.SendCommand(<a class="code" href="structfair_1_1mq_1_1sdk_1_1cmd_1_1Cmds.html">cmd::Cmds</a>(cmd::make&lt;cmd::UnsubscribeFromStateChange&gt;()).Serialize());</div><div class="line"><a name="l00248"></a><span class="lineno"> 248</span>&#160;</div><div class="line"><a name="l00249"></a><span class="lineno"> 249</span>&#160; <span class="comment">// wait for all tasks to confirm unsubscription</span></div><div class="line"><a name="l00250"></a><span class="lineno"> 250</span>&#160; std::unique_lock&lt;std::mutex&gt; lk(fMtx);</div><div class="line"><a name="l00251"></a><span class="lineno"> 251</span>&#160; fStateChangeUnsubscriptionCV.wait(lk, [&amp;](){</div><div class="line"><a name="l00252"></a><span class="lineno"> 252</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> count = std::count_if(fStateIndex.cbegin(), fStateIndex.cend(), [=](<span class="keyword">const</span> <span class="keyword">auto</span>&amp; s) {</div><div class="line"><a name="l00253"></a><span class="lineno"> 253</span>&#160; <span class="keywordflow">return</span> fStateData.at(s.second).subscribed_to_state_changes == <span class="keyword">false</span>;</div><div class="line"><a name="l00254"></a><span class="lineno"> 254</span>&#160; });</div><div class="line"><a name="l00255"></a><span class="lineno"> 255</span>&#160; <span class="keywordflow">return</span> count == fStateIndex.size();</div><div class="line"><a name="l00256"></a><span class="lineno"> 256</span>&#160; });</div><div class="line"><a name="l00257"></a><span class="lineno"> 257</span>&#160; }</div><div class="line"><a name="l00258"></a><span class="lineno"> 258</span>&#160;</div><div class="line"><a name="l00259"></a><span class="lineno"> 259</span>&#160; <span class="keywordtype">void</span> SubscribeToCommands()</div><div class="line"><a name="l00260"></a><span class="lineno"> 260</span>&#160; {</div><div class="line"><a name="l00261"></a><span class="lineno"> 261</span>&#160; fDDSSession.SubscribeToCommands([&amp;](<span class="keyword">const</span> std::string&amp; msg, <span class="keyword">const</span> std::string&amp; <span class="comment">/* condition */</span>, DDSChannel::Id senderId) {</div><div class="line"><a name="l00262"></a><span class="lineno"> 262</span>&#160; <a class="code" href="structfair_1_1mq_1_1sdk_1_1cmd_1_1Cmds.html">cmd::Cmds</a> inCmds;</div><div class="line"><a name="l00263"></a><span class="lineno"> 263</span>&#160; inCmds.Deserialize(msg);</div><div class="line"><a name="l00264"></a><span class="lineno"> 264</span>&#160; <span class="comment">// FAIR_LOG(debug) &lt;&lt; &quot;Received &quot; &lt;&lt; inCmds.Size() &lt;&lt; &quot; command(s) with total size of &quot; &lt;&lt; msg.length() &lt;&lt; &quot; bytes: &quot;;</span></div><div class="line"><a name="l00265"></a><span class="lineno"> 265</span>&#160;</div><div class="line"><a name="l00266"></a><span class="lineno"> 266</span>&#160; <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; cmd : inCmds) {</div><div class="line"><a name="l00267"></a><span class="lineno"> 267</span>&#160; <span class="comment">// FAIR_LOG(debug) &lt;&lt; &quot; &gt; &quot; &lt;&lt; cmd-&gt;GetType();</span></div><div class="line"><a name="l00268"></a><span class="lineno"> 268</span>&#160; <span class="keywordflow">switch</span> (cmd-&gt;GetType()) {</div><div class="line"><a name="l00269"></a><span class="lineno"> 269</span>&#160; <span class="keywordflow">case</span> cmd::Type::state_change_subscription:</div><div class="line"><a name="l00270"></a><span class="lineno"> 270</span>&#160; HandleCmd(static_cast&lt;cmd::StateChangeSubscription&amp;&gt;(*cmd));</div><div class="line"><a name="l00271"></a><span class="lineno"> 271</span>&#160; <span class="keywordflow">break</span>;</div><div class="line"><a name="l00272"></a><span class="lineno"> 272</span>&#160; <span class="keywordflow">case</span> cmd::Type::state_change_unsubscription:</div><div class="line"><a name="l00273"></a><span class="lineno"> 273</span>&#160; HandleCmd(static_cast&lt;cmd::StateChangeUnsubscription&amp;&gt;(*cmd));</div><div class="line"><a name="l00274"></a><span class="lineno"> 274</span>&#160; <span class="keywordflow">break</span>;</div><div class="line"><a name="l00275"></a><span class="lineno"> 275</span>&#160; <span class="keywordflow">case</span> cmd::Type::state_change:</div><div class="line"><a name="l00276"></a><span class="lineno"> 276</span>&#160; HandleCmd(static_cast&lt;cmd::StateChange&amp;&gt;(*cmd), senderId);</div><div class="line"><a name="l00277"></a><span class="lineno"> 277</span>&#160; <span class="keywordflow">break</span>;</div><div class="line"><a name="l00278"></a><span class="lineno"> 278</span>&#160; <span class="keywordflow">case</span> cmd::Type::transition_status:</div><div class="line"><a name="l00279"></a><span class="lineno"> 279</span>&#160; HandleCmd(static_cast&lt;cmd::TransitionStatus&amp;&gt;(*cmd));</div><div class="line"><a name="l00280"></a><span class="lineno"> 280</span>&#160; <span class="keywordflow">break</span>;</div><div class="line"><a name="l00281"></a><span class="lineno"> 281</span>&#160; <span class="keywordflow">case</span> cmd::Type::properties:</div><div class="line"><a name="l00282"></a><span class="lineno"> 282</span>&#160; HandleCmd(static_cast&lt;cmd::Properties&amp;&gt;(*cmd));</div><div class="line"><a name="l00283"></a><span class="lineno"> 283</span>&#160; <span class="keywordflow">break</span>;</div><div class="line"><a name="l00284"></a><span class="lineno"> 284</span>&#160; <span class="keywordflow">case</span> cmd::Type::properties_set:</div><div class="line"><a name="l00285"></a><span class="lineno"> 285</span>&#160; HandleCmd(static_cast&lt;cmd::PropertiesSet&amp;&gt;(*cmd));</div><div class="line"><a name="l00286"></a><span class="lineno"> 286</span>&#160; <span class="keywordflow">break</span>;</div><div class="line"><a name="l00287"></a><span class="lineno"> 287</span>&#160; <span class="keywordflow">default</span>:</div><div class="line"><a name="l00288"></a><span class="lineno"> 288</span>&#160; FAIR_LOG(warn) &lt;&lt; <span class="stringliteral">&quot;Unexpected/unknown command received: &quot;</span> &lt;&lt; cmd-&gt;GetType();</div><div class="line"><a name="l00289"></a><span class="lineno"> 289</span>&#160; FAIR_LOG(warn) &lt;&lt; <span class="stringliteral">&quot;Origin: &quot;</span> &lt;&lt; senderId;</div><div class="line"><a name="l00290"></a><span class="lineno"> 290</span>&#160; <span class="keywordflow">break</span>;</div><div class="line"><a name="l00291"></a><span class="lineno"> 291</span>&#160; }</div><div class="line"><a name="l00292"></a><span class="lineno"> 292</span>&#160; }</div><div class="line"><a name="l00293"></a><span class="lineno"> 293</span>&#160; });</div><div class="line"><a name="l00294"></a><span class="lineno"> 294</span>&#160; }</div><div class="line"><a name="l00295"></a><span class="lineno"> 295</span>&#160;</div><div class="line"><a name="l00296"></a><span class="lineno"> 296</span>&#160; <span class="keyword">auto</span> HandleCmd(<a class="code" href="structfair_1_1mq_1_1sdk_1_1cmd_1_1StateChangeSubscription.html">cmd::StateChangeSubscription</a> <span class="keyword">const</span>&amp; cmd) -&gt; <span class="keywordtype">void</span></div><div class="line"><a name="l00297"></a><span class="lineno"> 297</span>&#160; {</div><div class="line"><a name="l00298"></a><span class="lineno"> 298</span>&#160; <span class="keywordflow">if</span> (cmd.GetResult() == cmd::Result::Ok) {</div><div class="line"><a name="l00299"></a><span class="lineno"> 299</span>&#160; DDSTask::Id taskId(cmd.GetTaskId());</div><div class="line"><a name="l00300"></a><span class="lineno"> 300</span>&#160;</div><div class="line"><a name="l00301"></a><span class="lineno"> 301</span>&#160; <span class="keywordflow">try</span> {</div><div class="line"><a name="l00302"></a><span class="lineno"> 302</span>&#160; std::lock_guard&lt;std::mutex&gt; lk(fMtx);</div><div class="line"><a name="l00303"></a><span class="lineno"> 303</span>&#160; <a class="code" href="structfair_1_1mq_1_1sdk_1_1DeviceStatus.html">DeviceStatus</a>&amp; task = fStateData.at(fStateIndex.at(taskId));</div><div class="line"><a name="l00304"></a><span class="lineno"> 304</span>&#160; task.subscribed_to_state_changes = <span class="keyword">true</span>;</div><div class="line"><a name="l00305"></a><span class="lineno"> 305</span>&#160; } <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::exception&amp; e) {</div><div class="line"><a name="l00306"></a><span class="lineno"> 306</span>&#160; FAIR_LOG(error) &lt;&lt; <span class="stringliteral">&quot;Exception in HandleCmd(cmd::StateChangeSubscription const&amp;): &quot;</span> &lt;&lt; e.what();</div><div class="line"><a name="l00307"></a><span class="lineno"> 307</span>&#160; }</div><div class="line"><a name="l00308"></a><span class="lineno"> 308</span>&#160; } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00309"></a><span class="lineno"> 309</span>&#160; FAIR_LOG(error) &lt;&lt; <span class="stringliteral">&quot;State change subscription failed for device: &quot;</span> &lt;&lt; cmd.GetDeviceId() &lt;&lt; <span class="stringliteral">&quot;, task id: &quot;</span> &lt;&lt; cmd.GetTaskId();</div><div class="line"><a name="l00310"></a><span class="lineno"> 310</span>&#160; }</div><div class="line"><a name="l00311"></a><span class="lineno"> 311</span>&#160; }</div><div class="line"><a name="l00312"></a><span class="lineno"> 312</span>&#160;</div><div class="line"><a name="l00313"></a><span class="lineno"> 313</span>&#160; <span class="keyword">auto</span> HandleCmd(<a class="code" href="structfair_1_1mq_1_1sdk_1_1cmd_1_1StateChangeUnsubscription.html">cmd::StateChangeUnsubscription</a> <span class="keyword">const</span>&amp; cmd) -&gt; <span class="keywordtype">void</span></div><div class="line"><a name="l00314"></a><span class="lineno"> 314</span>&#160; {</div><div class="line"><a name="l00315"></a><span class="lineno"> 315</span>&#160; <span class="keywordflow">if</span> (cmd.GetResult() == cmd::Result::Ok) {</div><div class="line"><a name="l00316"></a><span class="lineno"> 316</span>&#160; DDSTask::Id taskId(cmd.GetTaskId());</div><div class="line"><a name="l00317"></a><span class="lineno"> 317</span>&#160;</div><div class="line"><a name="l00318"></a><span class="lineno"> 318</span>&#160; <span class="keywordflow">try</span> {</div><div class="line"><a name="l00319"></a><span class="lineno"> 319</span>&#160; std::unique_lock&lt;std::mutex&gt; lk(fMtx);</div><div class="line"><a name="l00320"></a><span class="lineno"> 320</span>&#160; <a class="code" href="structfair_1_1mq_1_1sdk_1_1DeviceStatus.html">DeviceStatus</a>&amp; task = fStateData.at(fStateIndex.at(taskId));</div><div class="line"><a name="l00321"></a><span class="lineno"> 321</span>&#160; task.subscribed_to_state_changes = <span class="keyword">false</span>;</div><div class="line"><a name="l00322"></a><span class="lineno"> 322</span>&#160; lk.unlock();</div><div class="line"><a name="l00323"></a><span class="lineno"> 323</span>&#160; fStateChangeUnsubscriptionCV.notify_one();</div><div class="line"><a name="l00324"></a><span class="lineno"> 324</span>&#160; } <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::exception&amp; e) {</div><div class="line"><a name="l00325"></a><span class="lineno"> 325</span>&#160; FAIR_LOG(error) &lt;&lt; <span class="stringliteral">&quot;Exception in HandleCmd(cmd::StateChangeUnsubscription const&amp;): &quot;</span> &lt;&lt; e.what();</div><div class="line"><a name="l00326"></a><span class="lineno"> 326</span>&#160; }</div><div class="line"><a name="l00327"></a><span class="lineno"> 327</span>&#160; } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00328"></a><span class="lineno"> 328</span>&#160; FAIR_LOG(error) &lt;&lt; <span class="stringliteral">&quot;State change unsubscription failed for device: &quot;</span> &lt;&lt; cmd.GetDeviceId() &lt;&lt; <span class="stringliteral">&quot;, task id: &quot;</span> &lt;&lt; cmd.GetTaskId();</div><div class="line"><a name="l00329"></a><span class="lineno"> 329</span>&#160; }</div><div class="line"><a name="l00330"></a><span class="lineno"> 330</span>&#160; }</div><div class="line"><a name="l00331"></a><span class="lineno"> 331</span>&#160;</div><div class="line"><a name="l00332"></a><span class="lineno"> 332</span>&#160; <span class="keyword">auto</span> HandleCmd(<a class="code" href="structfair_1_1mq_1_1sdk_1_1cmd_1_1StateChange.html">cmd::StateChange</a> <span class="keyword">const</span>&amp; cmd, DDSChannel::Id <span class="keyword">const</span>&amp; senderId) -&gt; <span class="keywordtype">void</span></div><div class="line"><a name="l00333"></a><span class="lineno"> 333</span>&#160; {</div><div class="line"><a name="l00334"></a><span class="lineno"> 334</span>&#160; <span class="keywordflow">if</span> (cmd.GetCurrentState() == DeviceState::Exiting) {</div><div class="line"><a name="l00335"></a><span class="lineno"> 335</span>&#160; fDDSSession.SendCommand(<a class="code" href="structfair_1_1mq_1_1sdk_1_1cmd_1_1Cmds.html">cmd::Cmds</a>(cmd::make&lt;cmd::StateChangeExitingReceived&gt;()).Serialize(), senderId);</div><div class="line"><a name="l00336"></a><span class="lineno"> 336</span>&#160; }</div><div class="line"><a name="l00337"></a><span class="lineno"> 337</span>&#160;</div><div class="line"><a name="l00338"></a><span class="lineno"> 338</span>&#160; DDSTask::Id taskId(cmd.GetTaskId());</div><div class="line"><a name="l00339"></a><span class="lineno"> 339</span>&#160;</div><div class="line"><a name="l00340"></a><span class="lineno"> 340</span>&#160; <span class="keywordflow">try</span> {</div><div class="line"><a name="l00341"></a><span class="lineno"> 341</span>&#160; std::lock_guard&lt;std::mutex&gt; lk(fMtx);</div><div class="line"><a name="l00342"></a><span class="lineno"> 342</span>&#160; <a class="code" href="structfair_1_1mq_1_1sdk_1_1DeviceStatus.html">DeviceStatus</a>&amp; task = fStateData.at(fStateIndex.at(taskId));</div><div class="line"><a name="l00343"></a><span class="lineno"> 343</span>&#160; task.lastState = cmd.GetLastState();</div><div class="line"><a name="l00344"></a><span class="lineno"> 344</span>&#160; task.state = cmd.GetCurrentState();</div><div class="line"><a name="l00345"></a><span class="lineno"> 345</span>&#160; <span class="comment">// if the task is exiting, it will not respond to unsubscription request anymore, set it to false now.</span></div><div class="line"><a name="l00346"></a><span class="lineno"> 346</span>&#160; <span class="keywordflow">if</span> (task.state == DeviceState::Exiting) {</div><div class="line"><a name="l00347"></a><span class="lineno"> 347</span>&#160; task.subscribed_to_state_changes = <span class="keyword">false</span>;</div><div class="line"><a name="l00348"></a><span class="lineno"> 348</span>&#160; }</div><div class="line"><a name="l00349"></a><span class="lineno"> 349</span>&#160; <span class="comment">// FAIR_LOG(debug) &lt;&lt; &quot;Updated state entry: taskId=&quot; &lt;&lt; taskId &lt;&lt; &quot;, state=&quot; &lt;&lt; state;</span></div><div class="line"><a name="l00350"></a><span class="lineno"> 350</span>&#160;</div><div class="line"><a name="l00351"></a><span class="lineno"> 351</span>&#160; <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; op : fChangeStateOps) {</div><div class="line"><a name="l00352"></a><span class="lineno"> 352</span>&#160; op.second.Update(taskId, cmd.GetCurrentState());</div><div class="line"><a name="l00353"></a><span class="lineno"> 353</span>&#160; }</div><div class="line"><a name="l00354"></a><span class="lineno"> 354</span>&#160; <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; op : fWaitForStateOps) {</div><div class="line"><a name="l00355"></a><span class="lineno"> 355</span>&#160; op.second.Update(taskId, cmd.GetLastState(), cmd.GetCurrentState());</div><div class="line"><a name="l00356"></a><span class="lineno"> 356</span>&#160; }</div><div class="line"><a name="l00357"></a><span class="lineno"> 357</span>&#160; } <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::exception&amp; e) {</div><div class="line"><a name="l00358"></a><span class="lineno"> 358</span>&#160; FAIR_LOG(error) &lt;&lt; <span class="stringliteral">&quot;Exception in HandleCmd(cmd::StateChange const&amp;): &quot;</span> &lt;&lt; e.what();</div><div class="line"><a name="l00359"></a><span class="lineno"> 359</span>&#160; }</div><div class="line"><a name="l00360"></a><span class="lineno"> 360</span>&#160; }</div><div class="line"><a name="l00361"></a><span class="lineno"> 361</span>&#160;</div><div class="line"><a name="l00362"></a><span class="lineno"> 362</span>&#160; <span class="keyword">auto</span> HandleCmd(<a class="code" href="structfair_1_1mq_1_1sdk_1_1cmd_1_1TransitionStatus.html">cmd::TransitionStatus</a> <span class="keyword">const</span>&amp; cmd) -&gt; <span class="keywordtype">void</span></div><div class="line"><a name="l00363"></a><span class="lineno"> 363</span>&#160; {</div><div class="line"><a name="l00364"></a><span class="lineno"> 364</span>&#160; <span class="keywordflow">if</span> (cmd.GetResult() != cmd::Result::Ok) {</div><div class="line"><a name="l00365"></a><span class="lineno"> 365</span>&#160; FAIR_LOG(error) &lt;&lt; cmd.GetTransition() &lt;&lt; <span class="stringliteral">&quot; transition failed for &quot;</span> &lt;&lt; cmd.GetDeviceId();</div><div class="line"><a name="l00366"></a><span class="lineno"> 366</span>&#160; DDSTask::Id taskId(cmd.GetTaskId());</div><div class="line"><a name="l00367"></a><span class="lineno"> 367</span>&#160; std::lock_guard&lt;std::mutex&gt; lk(fMtx);</div><div class="line"><a name="l00368"></a><span class="lineno"> 368</span>&#160; <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; op : fChangeStateOps) {</div><div class="line"><a name="l00369"></a><span class="lineno"> 369</span>&#160; <span class="keywordflow">if</span> (!op.second.IsCompleted() &amp;&amp; op.second.ContainsTask(taskId) &amp;&amp;</div><div class="line"><a name="l00370"></a><span class="lineno"> 370</span>&#160; fStateData.at(fStateIndex.at(taskId)).state != op.second.GetTargetState()) {</div><div class="line"><a name="l00371"></a><span class="lineno"> 371</span>&#160; op.second.Complete(MakeErrorCode(ErrorCode::DeviceChangeStateFailed));</div><div class="line"><a name="l00372"></a><span class="lineno"> 372</span>&#160; }</div><div class="line"><a name="l00373"></a><span class="lineno"> 373</span>&#160; }</div><div class="line"><a name="l00374"></a><span class="lineno"> 374</span>&#160; }</div><div class="line"><a name="l00375"></a><span class="lineno"> 375</span>&#160; }</div><div class="line"><a name="l00376"></a><span class="lineno"> 376</span>&#160;</div><div class="line"><a name="l00377"></a><span class="lineno"> 377</span>&#160; <span class="keyword">auto</span> HandleCmd(<a class="code" href="structfair_1_1mq_1_1sdk_1_1cmd_1_1Properties.html">cmd::Properties</a> <span class="keyword">const</span>&amp; cmd) -&gt; <span class="keywordtype">void</span></div><div class="line"><a name="l00378"></a><span class="lineno"> 378</span>&#160; {</div><div class="line"><a name="l00379"></a><span class="lineno"> 379</span>&#160; std::unique_lock&lt;std::mutex&gt; lk(fMtx);</div><div class="line"><a name="l00380"></a><span class="lineno"> 380</span>&#160; <span class="keywordflow">try</span> {</div><div class="line"><a name="l00381"></a><span class="lineno"> 381</span>&#160; <span class="keyword">auto</span>&amp; op(fGetPropertiesOps.at(cmd.GetRequestId()));</div><div class="line"><a name="l00382"></a><span class="lineno"> 382</span>&#160; lk.unlock();</div><div class="line"><a name="l00383"></a><span class="lineno"> 383</span>&#160; op.Update(cmd.GetDeviceId(), cmd.GetResult(), cmd.GetProps());</div><div class="line"><a name="l00384"></a><span class="lineno"> 384</span>&#160; } <span class="keywordflow">catch</span> (std::out_of_range&amp; e) {</div><div class="line"><a name="l00385"></a><span class="lineno"> 385</span>&#160; FAIR_LOG(debug) &lt;&lt; <span class="stringliteral">&quot;GetProperties operation (request id: &quot;</span> &lt;&lt; cmd.GetRequestId()</div><div class="line"><a name="l00386"></a><span class="lineno"> 386</span>&#160; &lt;&lt; <span class="stringliteral">&quot;) not found (probably completed or timed out), &quot;</span></div><div class="line"><a name="l00387"></a><span class="lineno"> 387</span>&#160; &lt;&lt; <span class="stringliteral">&quot;discarding reply of device &quot;</span> &lt;&lt; cmd.GetDeviceId();</div><div class="line"><a name="l00388"></a><span class="lineno"> 388</span>&#160; }</div><div class="line"><a name="l00389"></a><span class="lineno"> 389</span>&#160; }</div><div class="line"><a name="l00390"></a><span class="lineno"> 390</span>&#160;</div><div class="line"><a name="l00391"></a><span class="lineno"> 391</span>&#160; <span class="keyword">auto</span> HandleCmd(<a class="code" href="structfair_1_1mq_1_1sdk_1_1cmd_1_1PropertiesSet.html">cmd::PropertiesSet</a> <span class="keyword">const</span>&amp; cmd) -&gt; <span class="keywordtype">void</span></div><div class="line"><a name="l00392"></a><span class="lineno"> 392</span>&#160; {</div><div class="line"><a name="l00393"></a><span class="lineno"> 393</span>&#160; std::unique_lock&lt;std::mutex&gt; lk(fMtx);</div><div class="line"><a name="l00394"></a><span class="lineno"> 394</span>&#160; <span class="keywordflow">try</span> {</div><div class="line"><a name="l00395"></a><span class="lineno"> 395</span>&#160; <span class="keyword">auto</span>&amp; op(fSetPropertiesOps.at(cmd.GetRequestId()));</div><div class="line"><a name="l00396"></a><span class="lineno"> 396</span>&#160; lk.unlock();</div><div class="line"><a name="l00397"></a><span class="lineno"> 397</span>&#160; op.Update(cmd.GetDeviceId(), cmd.GetResult());</div><div class="line"><a name="l00398"></a><span class="lineno"> 398</span>&#160; } <span class="keywordflow">catch</span> (std::out_of_range&amp; e) {</div><div class="line"><a name="l00399"></a><span class="lineno"> 399</span>&#160; FAIR_LOG(debug) &lt;&lt; <span class="stringliteral">&quot;SetProperties operation (request id: &quot;</span> &lt;&lt; cmd.GetRequestId()</div><div class="line"><a name="l00400"></a><span class="lineno"> 400</span>&#160; &lt;&lt; <span class="stringliteral">&quot;) not found (probably completed or timed out), &quot;</span></div><div class="line"><a name="l00401"></a><span class="lineno"> 401</span>&#160; &lt;&lt; <span class="stringliteral">&quot;discarding reply of device &quot;</span> &lt;&lt; cmd.GetDeviceId();</div><div class="line"><a name="l00402"></a><span class="lineno"> 402</span>&#160; }</div><div class="line"><a name="l00403"></a><span class="lineno"> 403</span>&#160; }</div><div class="line"><a name="l00404"></a><span class="lineno"> 404</span>&#160;</div><div class="line"><a name="l00405"></a><span class="lineno"> 405</span>&#160; <span class="keyword">using</span> Duration = std::chrono::milliseconds;</div><div class="line"><a name="l00406"></a><span class="lineno"> 406</span>&#160; <span class="keyword">using</span> ChangeStateCompletionSignature = void(std::error_code, TopologyState);</div><div class="line"><a name="l00407"></a><span class="lineno"> 407</span>&#160;</div><div class="line"><a name="l00408"></a><span class="lineno"> 408</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00409"></a><span class="lineno"> 409</span>&#160; <span class="keyword">struct </span>ChangeStateOp</div><div class="line"><a name="l00410"></a><span class="lineno"> 410</span>&#160; {</div><div class="line"><a name="l00411"></a><span class="lineno"> 411</span>&#160; <span class="keyword">using</span> Id = std::size_t;</div><div class="line"><a name="l00412"></a><span class="lineno"> 412</span>&#160; <span class="keyword">using</span> Count = <span class="keywordtype">unsigned</span> int;</div><div class="line"><a name="l00413"></a><span class="lineno"> 413</span>&#160;</div><div class="line"><a name="l00414"></a><span class="lineno"> 414</span>&#160; <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Handler&gt;</div><div class="line"><a name="l00415"></a><span class="lineno"> 415</span>&#160; ChangeStateOp(Id <span class="keywordtype">id</span>,</div><div class="line"><a name="l00416"></a><span class="lineno"> 416</span>&#160; <span class="keyword">const</span> TopologyTransition transition,</div><div class="line"><a name="l00417"></a><span class="lineno"> 417</span>&#160; std::vector&lt;DDSTask&gt; tasks,</div><div class="line"><a name="l00418"></a><span class="lineno"> 418</span>&#160; TopologyState&amp; stateData,</div><div class="line"><a name="l00419"></a><span class="lineno"> 419</span>&#160; Duration timeout,</div><div class="line"><a name="l00420"></a><span class="lineno"> 420</span>&#160; std::mutex&amp; mutex,</div><div class="line"><a name="l00421"></a><span class="lineno"> 421</span>&#160; Executor <span class="keyword">const</span> &amp; ex,</div><div class="line"><a name="l00422"></a><span class="lineno"> 422</span>&#160; Allocator <span class="keyword">const</span> &amp; alloc,</div><div class="line"><a name="l00423"></a><span class="lineno"> 423</span>&#160; Handler&amp;&amp; handler)</div><div class="line"><a name="l00424"></a><span class="lineno"> 424</span>&#160; : fId(<span class="keywordtype">id</span>)</div><div class="line"><a name="l00425"></a><span class="lineno"> 425</span>&#160; , fOp(ex, alloc, std::move(handler))</div><div class="line"><a name="l00426"></a><span class="lineno"> 426</span>&#160; , fStateData(stateData)</div><div class="line"><a name="l00427"></a><span class="lineno"> 427</span>&#160; , fTimer(ex)</div><div class="line"><a name="l00428"></a><span class="lineno"> 428</span>&#160; , fCount(0)</div><div class="line"><a name="l00429"></a><span class="lineno"> 429</span>&#160; , fTasks(std::move(tasks))</div><div class="line"><a name="l00430"></a><span class="lineno"> 430</span>&#160; , fTargetState(expectedState.at(transition))</div><div class="line"><a name="l00431"></a><span class="lineno"> 431</span>&#160; , fMtx(mutex)</div><div class="line"><a name="l00432"></a><span class="lineno"> 432</span>&#160; {</div><div class="line"><a name="l00433"></a><span class="lineno"> 433</span>&#160; <span class="keywordflow">if</span> (timeout &gt; std::chrono::milliseconds(0)) {</div><div class="line"><a name="l00434"></a><span class="lineno"> 434</span>&#160; fTimer.expires_after(timeout);</div><div class="line"><a name="l00435"></a><span class="lineno"> 435</span>&#160; fTimer.async_wait([&amp;](std::error_code ec) {</div><div class="line"><a name="l00436"></a><span class="lineno"> 436</span>&#160; <span class="keywordflow">if</span> (!ec) {</div><div class="line"><a name="l00437"></a><span class="lineno"> 437</span>&#160; std::lock_guard&lt;std::mutex&gt; lk(fMtx);</div><div class="line"><a name="l00438"></a><span class="lineno"> 438</span>&#160; fOp.Timeout(fStateData);</div><div class="line"><a name="l00439"></a><span class="lineno"> 439</span>&#160; }</div><div class="line"><a name="l00440"></a><span class="lineno"> 440</span>&#160; });</div><div class="line"><a name="l00441"></a><span class="lineno"> 441</span>&#160; }</div><div class="line"><a name="l00442"></a><span class="lineno"> 442</span>&#160; }</div><div class="line"><a name="l00443"></a><span class="lineno"> 443</span>&#160; ChangeStateOp() = <span class="keyword">delete</span>;</div><div class="line"><a name="l00444"></a><span class="lineno"> 444</span>&#160; ChangeStateOp(<span class="keyword">const</span> ChangeStateOp&amp;) = <span class="keyword">delete</span>;</div><div class="line"><a name="l00445"></a><span class="lineno"> 445</span>&#160; ChangeStateOp&amp; operator=(<span class="keyword">const</span> ChangeStateOp&amp;) = <span class="keyword">delete</span>;</div><div class="line"><a name="l00446"></a><span class="lineno"> 446</span>&#160; ChangeStateOp(ChangeStateOp&amp;&amp;) = <span class="keywordflow">default</span>;</div><div class="line"><a name="l00447"></a><span class="lineno"> 447</span>&#160; ChangeStateOp&amp; operator=(ChangeStateOp&amp;&amp;) = <span class="keywordflow">default</span>;</div><div class="line"><a name="l00448"></a><span class="lineno"> 448</span>&#160; ~ChangeStateOp() = <span class="keywordflow">default</span>;</div><div class="line"><a name="l00449"></a><span class="lineno"> 449</span>&#160;</div><div class="line"><a name="l00451"></a><span class="lineno"> 451</span>&#160; <span class="keyword">auto</span> ResetCount(<span class="keyword">const</span> TopologyStateIndex&amp; stateIndex, <span class="keyword">const</span> TopologyState&amp; stateData) -&gt; <span class="keywordtype">void</span></div><div class="line"><a name="l00452"></a><span class="lineno"> 452</span>&#160; {</div><div class="line"><a name="l00453"></a><span class="lineno"> 453</span>&#160; fCount = std::count_if(stateIndex.cbegin(), stateIndex.cend(), [=](<span class="keyword">const</span> <span class="keyword">auto</span>&amp; s) {</div><div class="line"><a name="l00454"></a><span class="lineno"> 454</span>&#160; <span class="keywordflow">if</span> (ContainsTask(stateData.at(s.second).taskId)) {</div><div class="line"><a name="l00455"></a><span class="lineno"> 455</span>&#160; <span class="keywordflow">return</span> stateData.at(s.second).state == fTargetState;</div><div class="line"><a name="l00456"></a><span class="lineno"> 456</span>&#160; } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00457"></a><span class="lineno"> 457</span>&#160; <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00458"></a><span class="lineno"> 458</span>&#160; }</div><div class="line"><a name="l00459"></a><span class="lineno"> 459</span>&#160; });</div><div class="line"><a name="l00460"></a><span class="lineno"> 460</span>&#160; }</div><div class="line"><a name="l00461"></a><span class="lineno"> 461</span>&#160;</div><div class="line"><a name="l00463"></a><span class="lineno"> 463</span>&#160; <span class="keyword">auto</span> Update(<span class="keyword">const</span> DDSTask::Id taskId, <span class="keyword">const</span> DeviceState currentState) -&gt; <span class="keywordtype">void</span></div><div class="line"><a name="l00464"></a><span class="lineno"> 464</span>&#160; {</div><div class="line"><a name="l00465"></a><span class="lineno"> 465</span>&#160; <span class="keywordflow">if</span> (!fOp.IsCompleted() &amp;&amp; ContainsTask(taskId)) {</div><div class="line"><a name="l00466"></a><span class="lineno"> 466</span>&#160; <span class="keywordflow">if</span> (currentState == fTargetState) {</div><div class="line"><a name="l00467"></a><span class="lineno"> 467</span>&#160; ++fCount;</div><div class="line"><a name="l00468"></a><span class="lineno"> 468</span>&#160; }</div><div class="line"><a name="l00469"></a><span class="lineno"> 469</span>&#160; TryCompletion();</div><div class="line"><a name="l00470"></a><span class="lineno"> 470</span>&#160; }</div><div class="line"><a name="l00471"></a><span class="lineno"> 471</span>&#160; }</div><div class="line"><a name="l00472"></a><span class="lineno"> 472</span>&#160;</div><div class="line"><a name="l00474"></a><span class="lineno"> 474</span>&#160; <span class="keyword">auto</span> TryCompletion() -&gt; <span class="keywordtype">void</span></div><div class="line"><a name="l00475"></a><span class="lineno"> 475</span>&#160; {</div><div class="line"><a name="l00476"></a><span class="lineno"> 476</span>&#160; <span class="keywordflow">if</span> (!fOp.IsCompleted() &amp;&amp; fCount == fTasks.size()) {</div><div class="line"><a name="l00477"></a><span class="lineno"> 477</span>&#160; Complete(std::error_code());</div><div class="line"><a name="l00478"></a><span class="lineno"> 478</span>&#160; }</div><div class="line"><a name="l00479"></a><span class="lineno"> 479</span>&#160; }</div><div class="line"><a name="l00480"></a><span class="lineno"> 480</span>&#160;</div><div class="line"><a name="l00482"></a><span class="lineno"> 482</span>&#160; <span class="keyword">auto</span> Complete(std::error_code ec) -&gt; <span class="keywordtype">void</span></div><div class="line"><a name="l00483"></a><span class="lineno"> 483</span>&#160; {</div><div class="line"><a name="l00484"></a><span class="lineno"> 484</span>&#160; fTimer.cancel();</div><div class="line"><a name="l00485"></a><span class="lineno"> 485</span>&#160; fOp.Complete(ec, fStateData);</div><div class="line"><a name="l00486"></a><span class="lineno"> 486</span>&#160; }</div><div class="line"><a name="l00487"></a><span class="lineno"> 487</span>&#160;</div><div class="line"><a name="l00489"></a><span class="lineno"> 489</span>&#160; <span class="keyword">auto</span> ContainsTask(DDSTask::Id <span class="keywordtype">id</span>) -&gt; <span class="keywordtype">bool</span></div><div class="line"><a name="l00490"></a><span class="lineno"> 490</span>&#160; {</div><div class="line"><a name="l00491"></a><span class="lineno"> 491</span>&#160; <span class="keyword">auto</span> it = std::find_if(fTasks.begin(), fTasks.end(), [id](<span class="keyword">const</span> <a class="code" href="classfair_1_1mq_1_1sdk_1_1DDSTask.html">DDSTask</a>&amp; t) { <span class="keywordflow">return</span> t.GetId() == id; });</div><div class="line"><a name="l00492"></a><span class="lineno"> 492</span>&#160; <span class="keywordflow">return</span> it != fTasks.end();</div><div class="line"><a name="l00493"></a><span class="lineno"> 493</span>&#160; }</div><div class="line"><a name="l00494"></a><span class="lineno"> 494</span>&#160;</div><div class="line"><a name="l00495"></a><span class="lineno"> 495</span>&#160; <span class="keywordtype">bool</span> IsCompleted() { <span class="keywordflow">return</span> fOp.IsCompleted(); }</div><div class="line"><a name="l00496"></a><span class="lineno"> 496</span>&#160;</div><div class="line"><a name="l00497"></a><span class="lineno"> 497</span>&#160; <span class="keyword">auto</span> GetTargetState() <span class="keyword">const</span> -&gt; DeviceState { <span class="keywordflow">return</span> fTargetState; }</div><div class="line"><a name="l00498"></a><span class="lineno"> 498</span>&#160;</div><div class="line"><a name="l00499"></a><span class="lineno"> 499</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00500"></a><span class="lineno"> 500</span>&#160; Id <span class="keyword">const</span> fId;</div><div class="line"><a name="l00501"></a><span class="lineno"> 501</span>&#160; <a class="code" href="structfair_1_1mq_1_1sdk_1_1AsioAsyncOp.html">AsioAsyncOp&lt;Executor, Allocator, ChangeStateCompletionSignature&gt;</a> fOp;</div><div class="line"><a name="l00502"></a><span class="lineno"> 502</span>&#160; TopologyState&amp; fStateData;</div><div class="line"><a name="l00503"></a><span class="lineno"> 503</span>&#160; asio::steady_timer fTimer;</div><div class="line"><a name="l00504"></a><span class="lineno"> 504</span>&#160; Count fCount;</div><div class="line"><a name="l00505"></a><span class="lineno"> 505</span>&#160; std::vector&lt;DDSTask&gt; fTasks;</div><div class="line"><a name="l00506"></a><span class="lineno"> 506</span>&#160; DeviceState fTargetState;</div><div class="line"><a name="l00507"></a><span class="lineno"> 507</span>&#160; std::mutex&amp; fMtx;</div><div class="line"><a name="l00508"></a><span class="lineno"> 508</span>&#160; };</div><div class="line"><a name="l00509"></a><span class="lineno"> 509</span>&#160;</div><div class="line"><a name="l00510"></a><span class="lineno"> 510</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00588"></a><span class="lineno"> 588</span>&#160; <span class="keyword">template</span>&lt;<span class="keyword">typename</span> CompletionToken&gt;</div><div class="line"><a name="l00589"></a><span class="lineno"><a class="line" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a138b4e48a0c000fe78932189f679ce27"> 589</a></span>&#160; <span class="keyword">auto</span> <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a138b4e48a0c000fe78932189f679ce27">AsyncChangeState</a>(<span class="keyword">const</span> TopologyTransition transition,</div><div class="line"><a name="l00590"></a><span class="lineno"> 590</span>&#160; <span class="keyword">const</span> std::string&amp; path,</div><div class="line"><a name="l00591"></a><span class="lineno"> 591</span>&#160; Duration timeout,</div><div class="line"><a name="l00592"></a><span class="lineno"> 592</span>&#160; CompletionToken&amp;&amp; token)</div><div class="line"><a name="l00593"></a><span class="lineno"> 593</span>&#160; {</div><div class="line"><a name="l00594"></a><span class="lineno"> 594</span>&#160; <span class="keywordflow">return</span> asio::async_initiate&lt;CompletionToken, ChangeStateCompletionSignature&gt;([&amp;](<span class="keyword">auto</span> handler) {</div><div class="line"><a name="l00595"></a><span class="lineno"> 595</span>&#160; <span class="keyword">typename</span> ChangeStateOp::Id <span class="keyword">const</span> id(tools::UuidHash());</div><div class="line"><a name="l00596"></a><span class="lineno"> 596</span>&#160;</div><div class="line"><a name="l00597"></a><span class="lineno"> 597</span>&#160; std::lock_guard&lt;std::mutex&gt; lk(fMtx);</div><div class="line"><a name="l00598"></a><span class="lineno"> 598</span>&#160;</div><div class="line"><a name="l00599"></a><span class="lineno"> 599</span>&#160; <span class="keywordflow">for</span> (<span class="keyword">auto</span> it = begin(fChangeStateOps); it != end(fChangeStateOps);) {</div><div class="line"><a name="l00600"></a><span class="lineno"> 600</span>&#160; <span class="keywordflow">if</span> (it-&gt;second.IsCompleted()) {</div><div class="line"><a name="l00601"></a><span class="lineno"> 601</span>&#160; it = fChangeStateOps.erase(it);</div><div class="line"><a name="l00602"></a><span class="lineno"> 602</span>&#160; } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00603"></a><span class="lineno"> 603</span>&#160; ++it;</div><div class="line"><a name="l00604"></a><span class="lineno"> 604</span>&#160; }</div><div class="line"><a name="l00605"></a><span class="lineno"> 605</span>&#160; }</div><div class="line"><a name="l00606"></a><span class="lineno"> 606</span>&#160;</div><div class="line"><a name="l00607"></a><span class="lineno"> 607</span>&#160; <span class="keyword">auto</span> p = fChangeStateOps.emplace(</div><div class="line"><a name="l00608"></a><span class="lineno"> 608</span>&#160; std::piecewise_construct,</div><div class="line"><a name="l00609"></a><span class="lineno"> 609</span>&#160; std::forward_as_tuple(<span class="keywordtype">id</span>),</div><div class="line"><a name="l00610"></a><span class="lineno"> 610</span>&#160; std::forward_as_tuple(<span class="keywordtype">id</span>,</div><div class="line"><a name="l00611"></a><span class="lineno"> 611</span>&#160; transition,</div><div class="line"><a name="l00612"></a><span class="lineno"> 612</span>&#160; fDDSTopo.GetTasks(path),</div><div class="line"><a name="l00613"></a><span class="lineno"> 613</span>&#160; fStateData,</div><div class="line"><a name="l00614"></a><span class="lineno"> 614</span>&#160; timeout,</div><div class="line"><a name="l00615"></a><span class="lineno"> 615</span>&#160; fMtx,</div><div class="line"><a name="l00616"></a><span class="lineno"> 616</span>&#160; <a class="code" href="classfair_1_1mq_1_1sdk_1_1AsioBase.html#aa4a40d98197b0ca731b855f811761741">AsioBase&lt;Executor, Allocator&gt;::GetExecutor</a>(),</div><div class="line"><a name="l00617"></a><span class="lineno"> 617</span>&#160; <a class="code" href="classfair_1_1mq_1_1sdk_1_1AsioBase.html#a10c8108cd520e7a1ec2bced4b80df69d">AsioBase&lt;Executor, Allocator&gt;::GetAllocator</a>(),</div><div class="line"><a name="l00618"></a><span class="lineno"> 618</span>&#160; std::move(handler)));</div><div class="line"><a name="l00619"></a><span class="lineno"> 619</span>&#160;</div><div class="line"><a name="l00620"></a><span class="lineno"> 620</span>&#160; <a class="code" href="structfair_1_1mq_1_1sdk_1_1cmd_1_1Cmds.html">cmd::Cmds</a> cmds(cmd::make&lt;cmd::ChangeState&gt;(transition));</div><div class="line"><a name="l00621"></a><span class="lineno"> 621</span>&#160; fDDSSession.SendCommand(cmds.Serialize(), path);</div><div class="line"><a name="l00622"></a><span class="lineno"> 622</span>&#160;</div><div class="line"><a name="l00623"></a><span class="lineno"> 623</span>&#160; p.first-&gt;second.ResetCount(fStateIndex, fStateData);</div><div class="line"><a name="l00624"></a><span class="lineno"> 624</span>&#160; <span class="comment">// TODO: make sure following operation properly queues the completion and not doing it directly out of initiation call.</span></div><div class="line"><a name="l00625"></a><span class="lineno"> 625</span>&#160; p.first-&gt;second.TryCompletion();</div><div class="line"><a name="l00626"></a><span class="lineno"> 626</span>&#160;</div><div class="line"><a name="l00627"></a><span class="lineno"> 627</span>&#160; },</div><div class="line"><a name="l00628"></a><span class="lineno"> 628</span>&#160; token);</div><div class="line"><a name="l00629"></a><span class="lineno"> 629</span>&#160; }</div><div class="line"><a name="l00630"></a><span class="lineno"> 630</span>&#160;</div><div class="line"><a name="l00636"></a><span class="lineno"> 636</span>&#160; <span class="keyword">template</span>&lt;<span class="keyword">typename</span> CompletionToken&gt;</div><div class="line"><a name="l00637"></a><span class="lineno"><a class="line" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#aa5b4640b00e06124a0e8098b05be47b9"> 637</a></span>&#160; <span class="keyword">auto</span> <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#aa5b4640b00e06124a0e8098b05be47b9">AsyncChangeState</a>(<span class="keyword">const</span> TopologyTransition transition, CompletionToken&amp;&amp; token)</div><div class="line"><a name="l00638"></a><span class="lineno"> 638</span>&#160; {</div><div class="line"><a name="l00639"></a><span class="lineno"> 639</span>&#160; <span class="keywordflow">return</span> AsyncChangeState(transition, <span class="stringliteral">&quot;&quot;</span>, Duration(0), std::move(token));</div><div class="line"><a name="l00640"></a><span class="lineno"> 640</span>&#160; }</div><div class="line"><a name="l00641"></a><span class="lineno"> 641</span>&#160;</div><div class="line"><a name="l00648"></a><span class="lineno"> 648</span>&#160; <span class="keyword">template</span>&lt;<span class="keyword">typename</span> CompletionToken&gt;</div><div class="line"><a name="l00649"></a><span class="lineno"><a class="line" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a729cd0dcf3b74fc23b5a92a3ab7fecdf"> 649</a></span>&#160; <span class="keyword">auto</span> <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a729cd0dcf3b74fc23b5a92a3ab7fecdf">AsyncChangeState</a>(<span class="keyword">const</span> TopologyTransition transition, Duration timeout, CompletionToken&amp;&amp; token)</div><div class="line"><a name="l00650"></a><span class="lineno"> 650</span>&#160; {</div><div class="line"><a name="l00651"></a><span class="lineno"> 651</span>&#160; <span class="keywordflow">return</span> AsyncChangeState(transition, <span class="stringliteral">&quot;&quot;</span>, timeout, std::move(token));</div><div class="line"><a name="l00652"></a><span class="lineno"> 652</span>&#160; }</div><div class="line"><a name="l00653"></a><span class="lineno"> 653</span>&#160;</div><div class="line"><a name="l00660"></a><span class="lineno"> 660</span>&#160; <span class="keyword">template</span>&lt;<span class="keyword">typename</span> CompletionToken&gt;</div><div class="line"><a name="l00661"></a><span class="lineno"><a class="line" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#aec28b345f009b9e4323fa99bfabf68d4"> 661</a></span>&#160; <span class="keyword">auto</span> <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#aec28b345f009b9e4323fa99bfabf68d4">AsyncChangeState</a>(<span class="keyword">const</span> TopologyTransition transition, <span class="keyword">const</span> std::string&amp; path, CompletionToken&amp;&amp; token)</div><div class="line"><a name="l00662"></a><span class="lineno"> 662</span>&#160; {</div><div class="line"><a name="l00663"></a><span class="lineno"> 663</span>&#160; <span class="keywordflow">return</span> AsyncChangeState(transition, path, Duration(0), std::move(token));</div><div class="line"><a name="l00664"></a><span class="lineno"> 664</span>&#160; }</div><div class="line"><a name="l00665"></a><span class="lineno"> 665</span>&#160;</div><div class="line"><a name="l00671"></a><span class="lineno"><a class="line" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#aa97ffce815eb1b2af591f8e31263099e"> 671</a></span>&#160; <span class="keyword">auto</span> <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#aa97ffce815eb1b2af591f8e31263099e">ChangeState</a>(<span class="keyword">const</span> TopologyTransition transition, <span class="keyword">const</span> std::string&amp; path = <span class="stringliteral">&quot;&quot;</span>, Duration timeout = Duration(0))</div><div class="line"><a name="l00672"></a><span class="lineno"> 672</span>&#160; -&gt; std::pair&lt;std::error_code, TopologyState&gt;</div><div class="line"><a name="l00673"></a><span class="lineno"> 673</span>&#160; {</div><div class="line"><a name="l00674"></a><span class="lineno"> 674</span>&#160; <a class="code" href="structfair_1_1mq_1_1tools_1_1SharedSemaphore.html">tools::SharedSemaphore</a> blocker;</div><div class="line"><a name="l00675"></a><span class="lineno"> 675</span>&#160; std::error_code ec;</div><div class="line"><a name="l00676"></a><span class="lineno"> 676</span>&#160; TopologyState state;</div><div class="line"><a name="l00677"></a><span class="lineno"> 677</span>&#160; AsyncChangeState(transition, path, timeout, [&amp;, blocker](std::error_code _ec, TopologyState _state) <span class="keyword">mutable</span> {</div><div class="line"><a name="l00678"></a><span class="lineno"> 678</span>&#160; ec = _ec;</div><div class="line"><a name="l00679"></a><span class="lineno"> 679</span>&#160; state = _state;</div><div class="line"><a name="l00680"></a><span class="lineno"> 680</span>&#160; blocker.Signal();</div><div class="line"><a name="l00681"></a><span class="lineno"> 681</span>&#160; });</div><div class="line"><a name="l00682"></a><span class="lineno"> 682</span>&#160; blocker.Wait();</div><div class="line"><a name="l00683"></a><span class="lineno"> 683</span>&#160; <span class="keywordflow">return</span> {ec, state};</div><div class="line"><a name="l00684"></a><span class="lineno"> 684</span>&#160; }</div><div class="line"><a name="l00685"></a><span class="lineno"> 685</span>&#160;</div><div class="line"><a name="l00690"></a><span class="lineno"><a class="line" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a81f00e79151817b32420d60ea926a8ba"> 690</a></span>&#160; <span class="keyword">auto</span> <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a81f00e79151817b32420d60ea926a8ba">ChangeState</a>(<span class="keyword">const</span> TopologyTransition transition, Duration timeout)</div><div class="line"><a name="l00691"></a><span class="lineno"> 691</span>&#160; -&gt; std::pair&lt;std::error_code, TopologyState&gt;</div><div class="line"><a name="l00692"></a><span class="lineno"> 692</span>&#160; {</div><div class="line"><a name="l00693"></a><span class="lineno"> 693</span>&#160; <span class="keywordflow">return</span> ChangeState(transition, <span class="stringliteral">&quot;&quot;</span>, timeout);</div><div class="line"><a name="l00694"></a><span class="lineno"> 694</span>&#160; }</div><div class="line"><a name="l00695"></a><span class="lineno"> 695</span>&#160;</div><div class="line"><a name="l00698"></a><span class="lineno"><a class="line" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a247c01cea078f6f53e3b2f185583930c"> 698</a></span>&#160; <span class="keyword">auto</span> <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a247c01cea078f6f53e3b2f185583930c">GetCurrentState</a>() const -&gt; TopologyState</div><div class="line"><a name="l00699"></a><span class="lineno"> 699</span>&#160; {</div><div class="line"><a name="l00700"></a><span class="lineno"> 700</span>&#160; std::lock_guard&lt;std::mutex&gt; lk(fMtx);</div><div class="line"><a name="l00701"></a><span class="lineno"> 701</span>&#160; <span class="keywordflow">return</span> fStateData;</div><div class="line"><a name="l00702"></a><span class="lineno"> 702</span>&#160; }</div><div class="line"><a name="l00703"></a><span class="lineno"> 703</span>&#160;</div><div class="line"><a name="l00704"></a><span class="lineno"> 704</span>&#160; <span class="keyword">auto</span> AggregateState() <span class="keyword">const</span> -&gt; DeviceState { <span class="keywordflow">return</span> sdk::AggregateState(GetCurrentState()); }</div><div class="line"><a name="l00705"></a><span class="lineno"> 705</span>&#160;</div><div class="line"><a name="l00706"></a><span class="lineno"> 706</span>&#160; <span class="keyword">auto</span> StateEqualsTo(DeviceState state) <span class="keyword">const</span> -&gt; <span class="keywordtype">bool</span> { <span class="keywordflow">return</span> sdk::StateEqualsTo(GetCurrentState(), state); }</div><div class="line"><a name="l00707"></a><span class="lineno"> 707</span>&#160;</div><div class="line"><a name="l00708"></a><span class="lineno"> 708</span>&#160; <span class="keyword">using</span> WaitForStateCompletionSignature = void(std::error_code);</div><div class="line"><a name="l00709"></a><span class="lineno"> 709</span>&#160;</div><div class="line"><a name="l00710"></a><span class="lineno"> 710</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00711"></a><span class="lineno"> 711</span>&#160; <span class="keyword">struct </span>WaitForStateOp</div><div class="line"><a name="l00712"></a><span class="lineno"> 712</span>&#160; {</div><div class="line"><a name="l00713"></a><span class="lineno"> 713</span>&#160; <span class="keyword">using</span> Id = std::size_t;</div><div class="line"><a name="l00714"></a><span class="lineno"> 714</span>&#160; <span class="keyword">using</span> Count = <span class="keywordtype">unsigned</span> int;</div><div class="line"><a name="l00715"></a><span class="lineno"> 715</span>&#160;</div><div class="line"><a name="l00716"></a><span class="lineno"> 716</span>&#160; <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Handler&gt;</div><div class="line"><a name="l00717"></a><span class="lineno"> 717</span>&#160; WaitForStateOp(Id <span class="keywordtype">id</span>,</div><div class="line"><a name="l00718"></a><span class="lineno"> 718</span>&#160; DeviceState targetLastState,</div><div class="line"><a name="l00719"></a><span class="lineno"> 719</span>&#160; DeviceState targetCurrentState,</div><div class="line"><a name="l00720"></a><span class="lineno"> 720</span>&#160; std::vector&lt;DDSTask&gt; tasks,</div><div class="line"><a name="l00721"></a><span class="lineno"> 721</span>&#160; Duration timeout,</div><div class="line"><a name="l00722"></a><span class="lineno"> 722</span>&#160; std::mutex&amp; mutex,</div><div class="line"><a name="l00723"></a><span class="lineno"> 723</span>&#160; Executor <span class="keyword">const</span> &amp; ex,</div><div class="line"><a name="l00724"></a><span class="lineno"> 724</span>&#160; Allocator <span class="keyword">const</span> &amp; alloc,</div><div class="line"><a name="l00725"></a><span class="lineno"> 725</span>&#160; Handler&amp;&amp; handler)</div><div class="line"><a name="l00726"></a><span class="lineno"> 726</span>&#160; : fId(<span class="keywordtype">id</span>)</div><div class="line"><a name="l00727"></a><span class="lineno"> 727</span>&#160; , fOp(ex, alloc, std::move(handler))</div><div class="line"><a name="l00728"></a><span class="lineno"> 728</span>&#160; , fTimer(ex)</div><div class="line"><a name="l00729"></a><span class="lineno"> 729</span>&#160; , fCount(0)</div><div class="line"><a name="l00730"></a><span class="lineno"> 730</span>&#160; , fTasks(std::move(tasks))</div><div class="line"><a name="l00731"></a><span class="lineno"> 731</span>&#160; , fTargetLastState(targetLastState)</div><div class="line"><a name="l00732"></a><span class="lineno"> 732</span>&#160; , fTargetCurrentState(targetCurrentState)</div><div class="line"><a name="l00733"></a><span class="lineno"> 733</span>&#160; , fMtx(mutex)</div><div class="line"><a name="l00734"></a><span class="lineno"> 734</span>&#160; {</div><div class="line"><a name="l00735"></a><span class="lineno"> 735</span>&#160; <span class="keywordflow">if</span> (timeout &gt; std::chrono::milliseconds(0)) {</div><div class="line"><a name="l00736"></a><span class="lineno"> 736</span>&#160; fTimer.expires_after(timeout);</div><div class="line"><a name="l00737"></a><span class="lineno"> 737</span>&#160; fTimer.async_wait([&amp;](std::error_code ec) {</div><div class="line"><a name="l00738"></a><span class="lineno"> 738</span>&#160; <span class="keywordflow">if</span> (!ec) {</div><div class="line"><a name="l00739"></a><span class="lineno"> 739</span>&#160; std::lock_guard&lt;std::mutex&gt; lk(fMtx);</div><div class="line"><a name="l00740"></a><span class="lineno"> 740</span>&#160; fOp.Timeout();</div><div class="line"><a name="l00741"></a><span class="lineno"> 741</span>&#160; }</div><div class="line"><a name="l00742"></a><span class="lineno"> 742</span>&#160; });</div><div class="line"><a name="l00743"></a><span class="lineno"> 743</span>&#160; }</div><div class="line"><a name="l00744"></a><span class="lineno"> 744</span>&#160; }</div><div class="line"><a name="l00745"></a><span class="lineno"> 745</span>&#160; WaitForStateOp() = <span class="keyword">delete</span>;</div><div class="line"><a name="l00746"></a><span class="lineno"> 746</span>&#160; WaitForStateOp(<span class="keyword">const</span> WaitForStateOp&amp;) = <span class="keyword">delete</span>;</div><div class="line"><a name="l00747"></a><span class="lineno"> 747</span>&#160; WaitForStateOp&amp; operator=(<span class="keyword">const</span> WaitForStateOp&amp;) = <span class="keyword">delete</span>;</div><div class="line"><a name="l00748"></a><span class="lineno"> 748</span>&#160; WaitForStateOp(WaitForStateOp&amp;&amp;) = <span class="keywordflow">default</span>;</div><div class="line"><a name="l00749"></a><span class="lineno"> 749</span>&#160; WaitForStateOp&amp; operator=(WaitForStateOp&amp;&amp;) = <span class="keywordflow">default</span>;</div><div class="line"><a name="l00750"></a><span class="lineno"> 750</span>&#160; ~WaitForStateOp() = <span class="keywordflow">default</span>;</div><div class="line"><a name="l00751"></a><span class="lineno"> 751</span>&#160;</div><div class="line"><a name="l00753"></a><span class="lineno"> 753</span>&#160; <span class="keyword">auto</span> ResetCount(<span class="keyword">const</span> TopologyStateIndex&amp; stateIndex, <span class="keyword">const</span> TopologyState&amp; stateData) -&gt; <span class="keywordtype">void</span></div><div class="line"><a name="l00754"></a><span class="lineno"> 754</span>&#160; {</div><div class="line"><a name="l00755"></a><span class="lineno"> 755</span>&#160; fCount = std::count_if(stateIndex.cbegin(), stateIndex.cend(), [=](<span class="keyword">const</span> <span class="keyword">auto</span>&amp; s) {</div><div class="line"><a name="l00756"></a><span class="lineno"> 756</span>&#160; <span class="keywordflow">if</span> (ContainsTask(stateData.at(s.second).taskId)) {</div><div class="line"><a name="l00757"></a><span class="lineno"> 757</span>&#160; <span class="keywordflow">return</span> stateData.at(s.second).state == fTargetCurrentState</div><div class="line"><a name="l00758"></a><span class="lineno"> 758</span>&#160; &amp;&amp;</div><div class="line"><a name="l00759"></a><span class="lineno"> 759</span>&#160; (stateData.at(s.second).lastState == fTargetLastState || fTargetLastState == DeviceState::Ok);</div><div class="line"><a name="l00760"></a><span class="lineno"> 760</span>&#160; } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00761"></a><span class="lineno"> 761</span>&#160; <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00762"></a><span class="lineno"> 762</span>&#160; }</div><div class="line"><a name="l00763"></a><span class="lineno"> 763</span>&#160; });</div><div class="line"><a name="l00764"></a><span class="lineno"> 764</span>&#160; }</div><div class="line"><a name="l00765"></a><span class="lineno"> 765</span>&#160;</div><div class="line"><a name="l00767"></a><span class="lineno"> 767</span>&#160; <span class="keyword">auto</span> Update(<span class="keyword">const</span> DDSTask::Id taskId, <span class="keyword">const</span> DeviceState lastState, <span class="keyword">const</span> DeviceState currentState) -&gt; <span class="keywordtype">void</span></div><div class="line"><a name="l00768"></a><span class="lineno"> 768</span>&#160; {</div><div class="line"><a name="l00769"></a><span class="lineno"> 769</span>&#160; <span class="keywordflow">if</span> (!fOp.IsCompleted() &amp;&amp; ContainsTask(taskId)) {</div><div class="line"><a name="l00770"></a><span class="lineno"> 770</span>&#160; <span class="keywordflow">if</span> (currentState == fTargetCurrentState &amp;&amp;</div><div class="line"><a name="l00771"></a><span class="lineno"> 771</span>&#160; (lastState == fTargetLastState ||</div><div class="line"><a name="l00772"></a><span class="lineno"> 772</span>&#160; fTargetLastState == DeviceState::Ok)) {</div><div class="line"><a name="l00773"></a><span class="lineno"> 773</span>&#160; ++fCount;</div><div class="line"><a name="l00774"></a><span class="lineno"> 774</span>&#160; }</div><div class="line"><a name="l00775"></a><span class="lineno"> 775</span>&#160; TryCompletion();</div><div class="line"><a name="l00776"></a><span class="lineno"> 776</span>&#160; }</div><div class="line"><a name="l00777"></a><span class="lineno"> 777</span>&#160; }</div><div class="line"><a name="l00778"></a><span class="lineno"> 778</span>&#160;</div><div class="line"><a name="l00780"></a><span class="lineno"> 780</span>&#160; <span class="keyword">auto</span> TryCompletion() -&gt; <span class="keywordtype">void</span></div><div class="line"><a name="l00781"></a><span class="lineno"> 781</span>&#160; {</div><div class="line"><a name="l00782"></a><span class="lineno"> 782</span>&#160; <span class="keywordflow">if</span> (!fOp.IsCompleted() &amp;&amp; fCount == fTasks.size()) {</div><div class="line"><a name="l00783"></a><span class="lineno"> 783</span>&#160; fTimer.cancel();</div><div class="line"><a name="l00784"></a><span class="lineno"> 784</span>&#160; fOp.Complete();</div><div class="line"><a name="l00785"></a><span class="lineno"> 785</span>&#160; }</div><div class="line"><a name="l00786"></a><span class="lineno"> 786</span>&#160; }</div><div class="line"><a name="l00787"></a><span class="lineno"> 787</span>&#160;</div><div class="line"><a name="l00788"></a><span class="lineno"> 788</span>&#160; <span class="keywordtype">bool</span> IsCompleted() { <span class="keywordflow">return</span> fOp.IsCompleted(); }</div><div class="line"><a name="l00789"></a><span class="lineno"> 789</span>&#160;</div><div class="line"><a name="l00790"></a><span class="lineno"> 790</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00791"></a><span class="lineno"> 791</span>&#160; Id <span class="keyword">const</span> fId;</div><div class="line"><a name="l00792"></a><span class="lineno"> 792</span>&#160; <a class="code" href="structfair_1_1mq_1_1sdk_1_1AsioAsyncOp.html">AsioAsyncOp&lt;Executor, Allocator, WaitForStateCompletionSignature&gt;</a> fOp;</div><div class="line"><a name="l00793"></a><span class="lineno"> 793</span>&#160; asio::steady_timer fTimer;</div><div class="line"><a name="l00794"></a><span class="lineno"> 794</span>&#160; Count fCount;</div><div class="line"><a name="l00795"></a><span class="lineno"> 795</span>&#160; std::vector&lt;DDSTask&gt; fTasks;</div><div class="line"><a name="l00796"></a><span class="lineno"> 796</span>&#160; DeviceState fTargetLastState;</div><div class="line"><a name="l00797"></a><span class="lineno"> 797</span>&#160; DeviceState fTargetCurrentState;</div><div class="line"><a name="l00798"></a><span class="lineno"> 798</span>&#160; std::mutex&amp; fMtx;</div><div class="line"><a name="l00799"></a><span class="lineno"> 799</span>&#160;</div><div class="line"><a name="l00801"></a><span class="lineno"> 801</span>&#160; <span class="keyword">auto</span> ContainsTask(DDSTask::Id <span class="keywordtype">id</span>) -&gt; <span class="keywordtype">bool</span></div><div class="line"><a name="l00802"></a><span class="lineno"> 802</span>&#160; {</div><div class="line"><a name="l00803"></a><span class="lineno"> 803</span>&#160; <span class="keyword">auto</span> it = std::find_if(fTasks.begin(), fTasks.end(), [id](<span class="keyword">const</span> <a class="code" href="classfair_1_1mq_1_1sdk_1_1DDSTask.html">DDSTask</a>&amp; t) { <span class="keywordflow">return</span> t.GetId() == id; });</div><div class="line"><a name="l00804"></a><span class="lineno"> 804</span>&#160; <span class="keywordflow">return</span> it != fTasks.end();</div><div class="line"><a name="l00805"></a><span class="lineno"> 805</span>&#160; }</div><div class="line"><a name="l00806"></a><span class="lineno"> 806</span>&#160; };</div><div class="line"><a name="l00807"></a><span class="lineno"> 807</span>&#160;</div><div class="line"><a name="l00808"></a><span class="lineno"> 808</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00817"></a><span class="lineno"> 817</span>&#160; <span class="keyword">template</span>&lt;<span class="keyword">typename</span> CompletionToken&gt;</div><div class="line"><a name="l00818"></a><span class="lineno"><a class="line" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a834ce9bc3d4a79e3f369299af973391a"> 818</a></span>&#160; <span class="keyword">auto</span> <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a834ce9bc3d4a79e3f369299af973391a">AsyncWaitForState</a>(<span class="keyword">const</span> DeviceState targetLastState,</div><div class="line"><a name="l00819"></a><span class="lineno"> 819</span>&#160; <span class="keyword">const</span> DeviceState targetCurrentState,</div><div class="line"><a name="l00820"></a><span class="lineno"> 820</span>&#160; <span class="keyword">const</span> std::string&amp; path,</div><div class="line"><a name="l00821"></a><span class="lineno"> 821</span>&#160; Duration timeout,</div><div class="line"><a name="l00822"></a><span class="lineno"> 822</span>&#160; CompletionToken&amp;&amp; token)</div><div class="line"><a name="l00823"></a><span class="lineno"> 823</span>&#160; {</div><div class="line"><a name="l00824"></a><span class="lineno"> 824</span>&#160; <span class="keywordflow">return</span> asio::async_initiate&lt;CompletionToken, WaitForStateCompletionSignature&gt;([&amp;](<span class="keyword">auto</span> handler) {</div><div class="line"><a name="l00825"></a><span class="lineno"> 825</span>&#160; <span class="keyword">typename</span> GetPropertiesOp::Id <span class="keyword">const</span> id(tools::UuidHash());</div><div class="line"><a name="l00826"></a><span class="lineno"> 826</span>&#160;</div><div class="line"><a name="l00827"></a><span class="lineno"> 827</span>&#160; std::lock_guard&lt;std::mutex&gt; lk(fMtx);</div><div class="line"><a name="l00828"></a><span class="lineno"> 828</span>&#160;</div><div class="line"><a name="l00829"></a><span class="lineno"> 829</span>&#160; <span class="keywordflow">for</span> (<span class="keyword">auto</span> it = begin(fWaitForStateOps); it != end(fWaitForStateOps);) {</div><div class="line"><a name="l00830"></a><span class="lineno"> 830</span>&#160; <span class="keywordflow">if</span> (it-&gt;second.IsCompleted()) {</div><div class="line"><a name="l00831"></a><span class="lineno"> 831</span>&#160; it = fWaitForStateOps.erase(it);</div><div class="line"><a name="l00832"></a><span class="lineno"> 832</span>&#160; } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00833"></a><span class="lineno"> 833</span>&#160; ++it;</div><div class="line"><a name="l00834"></a><span class="lineno"> 834</span>&#160; }</div><div class="line"><a name="l00835"></a><span class="lineno"> 835</span>&#160; }</div><div class="line"><a name="l00836"></a><span class="lineno"> 836</span>&#160;</div><div class="line"><a name="l00837"></a><span class="lineno"> 837</span>&#160; <span class="keyword">auto</span> p = fWaitForStateOps.emplace(</div><div class="line"><a name="l00838"></a><span class="lineno"> 838</span>&#160; std::piecewise_construct,</div><div class="line"><a name="l00839"></a><span class="lineno"> 839</span>&#160; std::forward_as_tuple(<span class="keywordtype">id</span>),</div><div class="line"><a name="l00840"></a><span class="lineno"> 840</span>&#160; std::forward_as_tuple(<span class="keywordtype">id</span>,</div><div class="line"><a name="l00841"></a><span class="lineno"> 841</span>&#160; targetLastState,</div><div class="line"><a name="l00842"></a><span class="lineno"> 842</span>&#160; targetCurrentState,</div><div class="line"><a name="l00843"></a><span class="lineno"> 843</span>&#160; fDDSTopo.GetTasks(path),</div><div class="line"><a name="l00844"></a><span class="lineno"> 844</span>&#160; timeout,</div><div class="line"><a name="l00845"></a><span class="lineno"> 845</span>&#160; fMtx,</div><div class="line"><a name="l00846"></a><span class="lineno"> 846</span>&#160; <a class="code" href="classfair_1_1mq_1_1sdk_1_1AsioBase.html#aa4a40d98197b0ca731b855f811761741">AsioBase&lt;Executor, Allocator&gt;::GetExecutor</a>(),</div><div class="line"><a name="l00847"></a><span class="lineno"> 847</span>&#160; <a class="code" href="classfair_1_1mq_1_1sdk_1_1AsioBase.html#a10c8108cd520e7a1ec2bced4b80df69d">AsioBase&lt;Executor, Allocator&gt;::GetAllocator</a>(),</div><div class="line"><a name="l00848"></a><span class="lineno"> 848</span>&#160; std::move(handler)));</div><div class="line"><a name="l00849"></a><span class="lineno"> 849</span>&#160; p.first-&gt;second.ResetCount(fStateIndex, fStateData);</div><div class="line"><a name="l00850"></a><span class="lineno"> 850</span>&#160; <span class="comment">// TODO: make sure following operation properly queues the completion and not doing it directly out of initiation call.</span></div><div class="line"><a name="l00851"></a><span class="lineno"> 851</span>&#160; p.first-&gt;second.TryCompletion();</div><div class="line"><a name="l00852"></a><span class="lineno"> 852</span>&#160; },</div><div class="line"><a name="l00853"></a><span class="lineno"> 853</span>&#160; token);</div><div class="line"><a name="l00854"></a><span class="lineno"> 854</span>&#160; }</div><div class="line"><a name="l00855"></a><span class="lineno"> 855</span>&#160;</div><div class="line"><a name="l00862"></a><span class="lineno"> 862</span>&#160; <span class="keyword">template</span>&lt;<span class="keyword">typename</span> CompletionToken&gt;</div><div class="line"><a name="l00863"></a><span class="lineno"><a class="line" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#aaddb0296f1d9f282cd31b9d339c43eb9"> 863</a></span>&#160; <span class="keyword">auto</span> <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#aaddb0296f1d9f282cd31b9d339c43eb9">AsyncWaitForState</a>(<span class="keyword">const</span> DeviceState targetLastState, <span class="keyword">const</span> DeviceState targetCurrentState, CompletionToken&amp;&amp; token)</div><div class="line"><a name="l00864"></a><span class="lineno"> 864</span>&#160; {</div><div class="line"><a name="l00865"></a><span class="lineno"> 865</span>&#160; <span class="keywordflow">return</span> AsyncWaitForState(targetLastState, targetCurrentState, <span class="stringliteral">&quot;&quot;</span>, Duration(0), std::move(token));</div><div class="line"><a name="l00866"></a><span class="lineno"> 866</span>&#160; }</div><div class="line"><a name="l00867"></a><span class="lineno"> 867</span>&#160;</div><div class="line"><a name="l00873"></a><span class="lineno"> 873</span>&#160; <span class="keyword">template</span>&lt;<span class="keyword">typename</span> CompletionToken&gt;</div><div class="line"><a name="l00874"></a><span class="lineno"><a class="line" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a58224c9577ad69b738a9af5c20716a9e"> 874</a></span>&#160; <span class="keyword">auto</span> <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a58224c9577ad69b738a9af5c20716a9e">AsyncWaitForState</a>(<span class="keyword">const</span> DeviceState targetCurrentState, CompletionToken&amp;&amp; token)</div><div class="line"><a name="l00875"></a><span class="lineno"> 875</span>&#160; {</div><div class="line"><a name="l00876"></a><span class="lineno"> 876</span>&#160; <span class="keywordflow">return</span> AsyncWaitForState(DeviceState::Ok, targetCurrentState, <span class="stringliteral">&quot;&quot;</span>, Duration(0), std::move(token));</div><div class="line"><a name="l00877"></a><span class="lineno"> 877</span>&#160; }</div><div class="line"><a name="l00878"></a><span class="lineno"> 878</span>&#160;</div><div class="line"><a name="l00885"></a><span class="lineno"><a class="line" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a7d36f2154b3a3b83aede836948ef47a1"> 885</a></span>&#160; <span class="keyword">auto</span> <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a7d36f2154b3a3b83aede836948ef47a1">WaitForState</a>(<span class="keyword">const</span> DeviceState targetLastState, <span class="keyword">const</span> DeviceState targetCurrentState, <span class="keyword">const</span> std::string&amp; path = <span class="stringliteral">&quot;&quot;</span>, Duration timeout = Duration(0))</div><div class="line"><a name="l00886"></a><span class="lineno"> 886</span>&#160; -&gt; std::error_code</div><div class="line"><a name="l00887"></a><span class="lineno"> 887</span>&#160; {</div><div class="line"><a name="l00888"></a><span class="lineno"> 888</span>&#160; <a class="code" href="structfair_1_1mq_1_1tools_1_1SharedSemaphore.html">tools::SharedSemaphore</a> blocker;</div><div class="line"><a name="l00889"></a><span class="lineno"> 889</span>&#160; std::error_code ec;</div><div class="line"><a name="l00890"></a><span class="lineno"> 890</span>&#160; AsyncWaitForState(targetLastState, targetCurrentState, path, timeout, [&amp;, blocker](std::error_code _ec) <span class="keyword">mutable</span> {</div><div class="line"><a name="l00891"></a><span class="lineno"> 891</span>&#160; ec = _ec;</div><div class="line"><a name="l00892"></a><span class="lineno"> 892</span>&#160; blocker.Signal();</div><div class="line"><a name="l00893"></a><span class="lineno"> 893</span>&#160; });</div><div class="line"><a name="l00894"></a><span class="lineno"> 894</span>&#160; blocker.Wait();</div><div class="line"><a name="l00895"></a><span class="lineno"> 895</span>&#160; <span class="keywordflow">return</span> ec;</div><div class="line"><a name="l00896"></a><span class="lineno"> 896</span>&#160; }</div><div class="line"><a name="l00897"></a><span class="lineno"> 897</span>&#160;</div><div class="line"><a name="l00903"></a><span class="lineno"><a class="line" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#aedc74bf39cb2b913d9f55ea6c7d1d264"> 903</a></span>&#160; <span class="keyword">auto</span> <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#aedc74bf39cb2b913d9f55ea6c7d1d264">WaitForState</a>(<span class="keyword">const</span> DeviceState targetCurrentState, <span class="keyword">const</span> std::string&amp; path = <span class="stringliteral">&quot;&quot;</span>, Duration timeout = Duration(0))</div><div class="line"><a name="l00904"></a><span class="lineno"> 904</span>&#160; -&gt; std::error_code</div><div class="line"><a name="l00905"></a><span class="lineno"> 905</span>&#160; {</div><div class="line"><a name="l00906"></a><span class="lineno"> 906</span>&#160; <span class="keywordflow">return</span> WaitForState(DeviceState::Ok, targetCurrentState, path, timeout);</div><div class="line"><a name="l00907"></a><span class="lineno"> 907</span>&#160; }</div><div class="line"><a name="l00908"></a><span class="lineno"> 908</span>&#160;</div><div class="line"><a name="l00909"></a><span class="lineno"> 909</span>&#160; <span class="keyword">using</span> GetPropertiesCompletionSignature = void(std::error_code, <a class="code" href="structfair_1_1mq_1_1sdk_1_1GetPropertiesResult.html">GetPropertiesResult</a>);</div><div class="line"><a name="l00910"></a><span class="lineno"> 910</span>&#160;</div><div class="line"><a name="l00911"></a><span class="lineno"> 911</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00912"></a><span class="lineno"> 912</span>&#160; <span class="keyword">struct </span>GetPropertiesOp</div><div class="line"><a name="l00913"></a><span class="lineno"> 913</span>&#160; {</div><div class="line"><a name="l00914"></a><span class="lineno"> 914</span>&#160; <span class="keyword">using</span> Id = std::size_t;</div><div class="line"><a name="l00915"></a><span class="lineno"> 915</span>&#160; <span class="keyword">using</span> GetCount = <span class="keywordtype">unsigned</span> int;</div><div class="line"><a name="l00916"></a><span class="lineno"> 916</span>&#160;</div><div class="line"><a name="l00917"></a><span class="lineno"> 917</span>&#160; <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Handler&gt;</div><div class="line"><a name="l00918"></a><span class="lineno"> 918</span>&#160; GetPropertiesOp(Id <span class="keywordtype">id</span>,</div><div class="line"><a name="l00919"></a><span class="lineno"> 919</span>&#160; GetCount expectedCount,</div><div class="line"><a name="l00920"></a><span class="lineno"> 920</span>&#160; Duration timeout,</div><div class="line"><a name="l00921"></a><span class="lineno"> 921</span>&#160; std::mutex&amp; mutex,</div><div class="line"><a name="l00922"></a><span class="lineno"> 922</span>&#160; Executor <span class="keyword">const</span> &amp; ex,</div><div class="line"><a name="l00923"></a><span class="lineno"> 923</span>&#160; Allocator <span class="keyword">const</span> &amp; alloc,</div><div class="line"><a name="l00924"></a><span class="lineno"> 924</span>&#160; Handler&amp;&amp; handler)</div><div class="line"><a name="l00925"></a><span class="lineno"> 925</span>&#160; : fId(<span class="keywordtype">id</span>)</div><div class="line"><a name="l00926"></a><span class="lineno"> 926</span>&#160; , fOp(ex, alloc, std::move(handler))</div><div class="line"><a name="l00927"></a><span class="lineno"> 927</span>&#160; , fTimer(ex)</div><div class="line"><a name="l00928"></a><span class="lineno"> 928</span>&#160; , fCount(0)</div><div class="line"><a name="l00929"></a><span class="lineno"> 929</span>&#160; , fExpectedCount(expectedCount)</div><div class="line"><a name="l00930"></a><span class="lineno"> 930</span>&#160; , fMtx(mutex)</div><div class="line"><a name="l00931"></a><span class="lineno"> 931</span>&#160; {</div><div class="line"><a name="l00932"></a><span class="lineno"> 932</span>&#160; <span class="keywordflow">if</span> (timeout &gt; std::chrono::milliseconds(0)) {</div><div class="line"><a name="l00933"></a><span class="lineno"> 933</span>&#160; fTimer.expires_after(timeout);</div><div class="line"><a name="l00934"></a><span class="lineno"> 934</span>&#160; fTimer.async_wait([&amp;](std::error_code ec) {</div><div class="line"><a name="l00935"></a><span class="lineno"> 935</span>&#160; <span class="keywordflow">if</span> (!ec) {</div><div class="line"><a name="l00936"></a><span class="lineno"> 936</span>&#160; std::lock_guard&lt;std::mutex&gt; lk(fMtx);</div><div class="line"><a name="l00937"></a><span class="lineno"> 937</span>&#160; fOp.Timeout(fResult);</div><div class="line"><a name="l00938"></a><span class="lineno"> 938</span>&#160; }</div><div class="line"><a name="l00939"></a><span class="lineno"> 939</span>&#160; });</div><div class="line"><a name="l00940"></a><span class="lineno"> 940</span>&#160; }</div><div class="line"><a name="l00941"></a><span class="lineno"> 941</span>&#160; <span class="comment">// FAIR_LOG(debug) &lt;&lt; &quot;GetProperties &quot; &lt;&lt; fId &lt;&lt; &quot; with expected count of &quot; &lt;&lt; fExpectedCount &lt;&lt; &quot; started.&quot;;</span></div><div class="line"><a name="l00942"></a><span class="lineno"> 942</span>&#160; }</div><div class="line"><a name="l00943"></a><span class="lineno"> 943</span>&#160; GetPropertiesOp() = <span class="keyword">delete</span>;</div><div class="line"><a name="l00944"></a><span class="lineno"> 944</span>&#160; GetPropertiesOp(<span class="keyword">const</span> GetPropertiesOp&amp;) = <span class="keyword">delete</span>;</div><div class="line"><a name="l00945"></a><span class="lineno"> 945</span>&#160; GetPropertiesOp&amp; operator=(<span class="keyword">const</span> GetPropertiesOp&amp;) = <span class="keyword">delete</span>;</div><div class="line"><a name="l00946"></a><span class="lineno"> 946</span>&#160; GetPropertiesOp(GetPropertiesOp&amp;&amp;) = <span class="keywordflow">default</span>;</div><div class="line"><a name="l00947"></a><span class="lineno"> 947</span>&#160; GetPropertiesOp&amp; operator=(GetPropertiesOp&amp;&amp;) = <span class="keywordflow">default</span>;</div><div class="line"><a name="l00948"></a><span class="lineno"> 948</span>&#160; ~GetPropertiesOp() = <span class="keywordflow">default</span>;</div><div class="line"><a name="l00949"></a><span class="lineno"> 949</span>&#160;</div><div class="line"><a name="l00950"></a><span class="lineno"> 950</span>&#160; <span class="keyword">auto</span> Update(<span class="keyword">const</span> std::string&amp; deviceId, cmd::Result result, DeviceProperties props) -&gt; <span class="keywordtype">void</span></div><div class="line"><a name="l00951"></a><span class="lineno"> 951</span>&#160; {</div><div class="line"><a name="l00952"></a><span class="lineno"> 952</span>&#160; std::lock_guard&lt;std::mutex&gt; lk(fMtx);</div><div class="line"><a name="l00953"></a><span class="lineno"> 953</span>&#160; <span class="keywordflow">if</span> (cmd::Result::Ok != result) {</div><div class="line"><a name="l00954"></a><span class="lineno"> 954</span>&#160; fResult.failed.insert(deviceId);</div><div class="line"><a name="l00955"></a><span class="lineno"> 955</span>&#160; } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00956"></a><span class="lineno"> 956</span>&#160; fResult.devices.insert({deviceId, {std::move(props)}});</div><div class="line"><a name="l00957"></a><span class="lineno"> 957</span>&#160; }</div><div class="line"><a name="l00958"></a><span class="lineno"> 958</span>&#160; ++fCount;</div><div class="line"><a name="l00959"></a><span class="lineno"> 959</span>&#160; TryCompletion();</div><div class="line"><a name="l00960"></a><span class="lineno"> 960</span>&#160; }</div><div class="line"><a name="l00961"></a><span class="lineno"> 961</span>&#160;</div><div class="line"><a name="l00962"></a><span class="lineno"> 962</span>&#160; <span class="keywordtype">bool</span> IsCompleted() { <span class="keywordflow">return</span> fOp.IsCompleted(); }</div><div class="line"><a name="l00963"></a><span class="lineno"> 963</span>&#160;</div><div class="line"><a name="l00964"></a><span class="lineno"> 964</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00965"></a><span class="lineno"> 965</span>&#160; Id <span class="keyword">const</span> fId;</div><div class="line"><a name="l00966"></a><span class="lineno"> 966</span>&#160; <a class="code" href="structfair_1_1mq_1_1sdk_1_1AsioAsyncOp.html">AsioAsyncOp&lt;Executor, Allocator, GetPropertiesCompletionSignature&gt;</a> fOp;</div><div class="line"><a name="l00967"></a><span class="lineno"> 967</span>&#160; asio::steady_timer fTimer;</div><div class="line"><a name="l00968"></a><span class="lineno"> 968</span>&#160; GetCount fCount;</div><div class="line"><a name="l00969"></a><span class="lineno"> 969</span>&#160; GetCount <span class="keyword">const</span> fExpectedCount;</div><div class="line"><a name="l00970"></a><span class="lineno"> 970</span>&#160; <a class="code" href="structfair_1_1mq_1_1sdk_1_1GetPropertiesResult.html">GetPropertiesResult</a> fResult;</div><div class="line"><a name="l00971"></a><span class="lineno"> 971</span>&#160; std::mutex&amp; fMtx;</div><div class="line"><a name="l00972"></a><span class="lineno"> 972</span>&#160;</div><div class="line"><a name="l00974"></a><span class="lineno"> 974</span>&#160; <span class="keyword">auto</span> TryCompletion() -&gt; <span class="keywordtype">void</span></div><div class="line"><a name="l00975"></a><span class="lineno"> 975</span>&#160; {</div><div class="line"><a name="l00976"></a><span class="lineno"> 976</span>&#160; <span class="keywordflow">if</span> (!fOp.IsCompleted() &amp;&amp; fCount == fExpectedCount) {</div><div class="line"><a name="l00977"></a><span class="lineno"> 977</span>&#160; fTimer.cancel();</div><div class="line"><a name="l00978"></a><span class="lineno"> 978</span>&#160; <span class="keywordflow">if</span> (fResult.failed.size() &gt; 0) {</div><div class="line"><a name="l00979"></a><span class="lineno"> 979</span>&#160; fOp.Complete(MakeErrorCode(ErrorCode::DeviceGetPropertiesFailed), std::move(fResult));</div><div class="line"><a name="l00980"></a><span class="lineno"> 980</span>&#160; } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00981"></a><span class="lineno"> 981</span>&#160; fOp.Complete(std::move(fResult));</div><div class="line"><a name="l00982"></a><span class="lineno"> 982</span>&#160; }</div><div class="line"><a name="l00983"></a><span class="lineno"> 983</span>&#160; }</div><div class="line"><a name="l00984"></a><span class="lineno"> 984</span>&#160; }</div><div class="line"><a name="l00985"></a><span class="lineno"> 985</span>&#160; };</div><div class="line"><a name="l00986"></a><span class="lineno"> 986</span>&#160;</div><div class="line"><a name="l00987"></a><span class="lineno"> 987</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00995"></a><span class="lineno"> 995</span>&#160; <span class="keyword">template</span>&lt;<span class="keyword">typename</span> CompletionToken&gt;</div><div class="line"><a name="l00996"></a><span class="lineno"><a class="line" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a48d74222cda9c4823c4574f2c0c3d47e"> 996</a></span>&#160; <span class="keyword">auto</span> <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a48d74222cda9c4823c4574f2c0c3d47e">AsyncGetProperties</a>(DevicePropertyQuery <span class="keyword">const</span>&amp; query,</div><div class="line"><a name="l00997"></a><span class="lineno"> 997</span>&#160; <span class="keyword">const</span> std::string&amp; path,</div><div class="line"><a name="l00998"></a><span class="lineno"> 998</span>&#160; Duration timeout,</div><div class="line"><a name="l00999"></a><span class="lineno"> 999</span>&#160; CompletionToken&amp;&amp; token)</div><div class="line"><a name="l01000"></a><span class="lineno"> 1000</span>&#160; {</div><div class="line"><a name="l01001"></a><span class="lineno"> 1001</span>&#160; <span class="keywordflow">return</span> asio::async_initiate&lt;CompletionToken, GetPropertiesCompletionSignature&gt;(</div><div class="line"><a name="l01002"></a><span class="lineno"> 1002</span>&#160; [&amp;](<span class="keyword">auto</span> handler) {</div><div class="line"><a name="l01003"></a><span class="lineno"> 1003</span>&#160; <span class="keyword">typename</span> GetPropertiesOp::Id <span class="keyword">const</span> id(tools::UuidHash());</div><div class="line"><a name="l01004"></a><span class="lineno"> 1004</span>&#160;</div><div class="line"><a name="l01005"></a><span class="lineno"> 1005</span>&#160; std::lock_guard&lt;std::mutex&gt; lk(fMtx);</div><div class="line"><a name="l01006"></a><span class="lineno"> 1006</span>&#160;</div><div class="line"><a name="l01007"></a><span class="lineno"> 1007</span>&#160; <span class="keywordflow">for</span> (<span class="keyword">auto</span> it = begin(fGetPropertiesOps); it != end(fGetPropertiesOps);) {</div><div class="line"><a name="l01008"></a><span class="lineno"> 1008</span>&#160; <span class="keywordflow">if</span> (it-&gt;second.IsCompleted()) {</div><div class="line"><a name="l01009"></a><span class="lineno"> 1009</span>&#160; it = fGetPropertiesOps.erase(it);</div><div class="line"><a name="l01010"></a><span class="lineno"> 1010</span>&#160; } <span class="keywordflow">else</span> {</div><div class="line"><a name="l01011"></a><span class="lineno"> 1011</span>&#160; ++it;</div><div class="line"><a name="l01012"></a><span class="lineno"> 1012</span>&#160; }</div><div class="line"><a name="l01013"></a><span class="lineno"> 1013</span>&#160; }</div><div class="line"><a name="l01014"></a><span class="lineno"> 1014</span>&#160;</div><div class="line"><a name="l01015"></a><span class="lineno"> 1015</span>&#160; fGetPropertiesOps.emplace(</div><div class="line"><a name="l01016"></a><span class="lineno"> 1016</span>&#160; std::piecewise_construct,</div><div class="line"><a name="l01017"></a><span class="lineno"> 1017</span>&#160; std::forward_as_tuple(<span class="keywordtype">id</span>),</div><div class="line"><a name="l01018"></a><span class="lineno"> 1018</span>&#160; std::forward_as_tuple(<span class="keywordtype">id</span>,</div><div class="line"><a name="l01019"></a><span class="lineno"> 1019</span>&#160; fDDSTopo.GetTasks(path).size(),</div><div class="line"><a name="l01020"></a><span class="lineno"> 1020</span>&#160; timeout,</div><div class="line"><a name="l01021"></a><span class="lineno"> 1021</span>&#160; fMtx,</div><div class="line"><a name="l01022"></a><span class="lineno"> 1022</span>&#160; <a class="code" href="classfair_1_1mq_1_1sdk_1_1AsioBase.html#aa4a40d98197b0ca731b855f811761741">AsioBase&lt;Executor, Allocator&gt;::GetExecutor</a>(),</div><div class="line"><a name="l01023"></a><span class="lineno"> 1023</span>&#160; <a class="code" href="classfair_1_1mq_1_1sdk_1_1AsioBase.html#a10c8108cd520e7a1ec2bced4b80df69d">AsioBase&lt;Executor, Allocator&gt;::GetAllocator</a>(),</div><div class="line"><a name="l01024"></a><span class="lineno"> 1024</span>&#160; std::move(handler)));</div><div class="line"><a name="l01025"></a><span class="lineno"> 1025</span>&#160;</div><div class="line"><a name="l01026"></a><span class="lineno"> 1026</span>&#160; <a class="code" href="structfair_1_1mq_1_1sdk_1_1cmd_1_1Cmds.html">cmd::Cmds</a> <span class="keyword">const</span> cmds(cmd::make&lt;cmd::GetProperties&gt;(<span class="keywordtype">id</span>, query));</div><div class="line"><a name="l01027"></a><span class="lineno"> 1027</span>&#160; fDDSSession.SendCommand(cmds.Serialize(), path);</div><div class="line"><a name="l01028"></a><span class="lineno"> 1028</span>&#160; },</div><div class="line"><a name="l01029"></a><span class="lineno"> 1029</span>&#160; token);</div><div class="line"><a name="l01030"></a><span class="lineno"> 1030</span>&#160; }</div><div class="line"><a name="l01031"></a><span class="lineno"> 1031</span>&#160;</div><div class="line"><a name="l01037"></a><span class="lineno"> 1037</span>&#160; <span class="keyword">template</span>&lt;<span class="keyword">typename</span> CompletionToken&gt;</div><div class="line"><a name="l01038"></a><span class="lineno"><a class="line" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#ab68803df2810c82f36662209026a0d90"> 1038</a></span>&#160; <span class="keyword">auto</span> <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#ab68803df2810c82f36662209026a0d90">AsyncGetProperties</a>(DevicePropertyQuery <span class="keyword">const</span>&amp; query, CompletionToken&amp;&amp; token)</div><div class="line"><a name="l01039"></a><span class="lineno"> 1039</span>&#160; {</div><div class="line"><a name="l01040"></a><span class="lineno"> 1040</span>&#160; <span class="keywordflow">return</span> AsyncGetProperties(query, <span class="stringliteral">&quot;&quot;</span>, Duration(0), std::move(token));</div><div class="line"><a name="l01041"></a><span class="lineno"> 1041</span>&#160; }</div><div class="line"><a name="l01042"></a><span class="lineno"> 1042</span>&#160;</div><div class="line"><a name="l01048"></a><span class="lineno"><a class="line" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a184b8bc417c76d908edf433c4be5499a"> 1048</a></span>&#160; <span class="keyword">auto</span> <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a184b8bc417c76d908edf433c4be5499a">GetProperties</a>(DevicePropertyQuery <span class="keyword">const</span>&amp; query, <span class="keyword">const</span> std::string&amp; path = <span class="stringliteral">&quot;&quot;</span>, Duration timeout = Duration(0))</div><div class="line"><a name="l01049"></a><span class="lineno"> 1049</span>&#160; -&gt; std::pair&lt;std::error_code, GetPropertiesResult&gt;</div><div class="line"><a name="l01050"></a><span class="lineno"> 1050</span>&#160; {</div><div class="line"><a name="l01051"></a><span class="lineno"> 1051</span>&#160; <a class="code" href="structfair_1_1mq_1_1tools_1_1SharedSemaphore.html">tools::SharedSemaphore</a> blocker;</div><div class="line"><a name="l01052"></a><span class="lineno"> 1052</span>&#160; std::error_code ec;</div><div class="line"><a name="l01053"></a><span class="lineno"> 1053</span>&#160; <a class="code" href="structfair_1_1mq_1_1sdk_1_1GetPropertiesResult.html">GetPropertiesResult</a> result;</div><div class="line"><a name="l01054"></a><span class="lineno"> 1054</span>&#160; AsyncGetProperties(query, path, timeout, [&amp;, blocker](std::error_code _ec, <a class="code" href="structfair_1_1mq_1_1sdk_1_1GetPropertiesResult.html">GetPropertiesResult</a> _result) <span class="keyword">mutable</span> {</div><div class="line"><a name="l01055"></a><span class="lineno"> 1055</span>&#160; ec = _ec;</div><div class="line"><a name="l01056"></a><span class="lineno"> 1056</span>&#160; result = _result;</div><div class="line"><a name="l01057"></a><span class="lineno"> 1057</span>&#160; blocker.Signal();</div><div class="line"><a name="l01058"></a><span class="lineno"> 1058</span>&#160; });</div><div class="line"><a name="l01059"></a><span class="lineno"> 1059</span>&#160; blocker.Wait();</div><div class="line"><a name="l01060"></a><span class="lineno"> 1060</span>&#160; <span class="keywordflow">return</span> {ec, result};</div><div class="line"><a name="l01061"></a><span class="lineno"> 1061</span>&#160; }</div><div class="line"><a name="l01062"></a><span class="lineno"> 1062</span>&#160;</div><div class="line"><a name="l01063"></a><span class="lineno"> 1063</span>&#160; <span class="keyword">using</span> SetPropertiesCompletionSignature = void(std::error_code, FailedDevices);</div><div class="line"><a name="l01064"></a><span class="lineno"> 1064</span>&#160;</div><div class="line"><a name="l01065"></a><span class="lineno"> 1065</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l01066"></a><span class="lineno"> 1066</span>&#160; <span class="keyword">struct </span>SetPropertiesOp</div><div class="line"><a name="l01067"></a><span class="lineno"> 1067</span>&#160; {</div><div class="line"><a name="l01068"></a><span class="lineno"> 1068</span>&#160; <span class="keyword">using</span> Id = std::size_t;</div><div class="line"><a name="l01069"></a><span class="lineno"> 1069</span>&#160; <span class="keyword">using</span> SetCount = <span class="keywordtype">unsigned</span> int;</div><div class="line"><a name="l01070"></a><span class="lineno"> 1070</span>&#160;</div><div class="line"><a name="l01071"></a><span class="lineno"> 1071</span>&#160; <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Handler&gt;</div><div class="line"><a name="l01072"></a><span class="lineno"> 1072</span>&#160; SetPropertiesOp(Id <span class="keywordtype">id</span>,</div><div class="line"><a name="l01073"></a><span class="lineno"> 1073</span>&#160; SetCount expectedCount,</div><div class="line"><a name="l01074"></a><span class="lineno"> 1074</span>&#160; Duration timeout,</div><div class="line"><a name="l01075"></a><span class="lineno"> 1075</span>&#160; std::mutex&amp; mutex,</div><div class="line"><a name="l01076"></a><span class="lineno"> 1076</span>&#160; Executor <span class="keyword">const</span> &amp; ex,</div><div class="line"><a name="l01077"></a><span class="lineno"> 1077</span>&#160; Allocator <span class="keyword">const</span> &amp; alloc,</div><div class="line"><a name="l01078"></a><span class="lineno"> 1078</span>&#160; Handler&amp;&amp; handler)</div><div class="line"><a name="l01079"></a><span class="lineno"> 1079</span>&#160; : fId(<span class="keywordtype">id</span>)</div><div class="line"><a name="l01080"></a><span class="lineno"> 1080</span>&#160; , fOp(ex, alloc, std::move(handler))</div><div class="line"><a name="l01081"></a><span class="lineno"> 1081</span>&#160; , fTimer(ex)</div><div class="line"><a name="l01082"></a><span class="lineno"> 1082</span>&#160; , fCount(0)</div><div class="line"><a name="l01083"></a><span class="lineno"> 1083</span>&#160; , fExpectedCount(expectedCount)</div><div class="line"><a name="l01084"></a><span class="lineno"> 1084</span>&#160; , fFailedDevices()</div><div class="line"><a name="l01085"></a><span class="lineno"> 1085</span>&#160; , fMtx(mutex)</div><div class="line"><a name="l01086"></a><span class="lineno"> 1086</span>&#160; {</div><div class="line"><a name="l01087"></a><span class="lineno"> 1087</span>&#160; <span class="keywordflow">if</span> (timeout &gt; std::chrono::milliseconds(0)) {</div><div class="line"><a name="l01088"></a><span class="lineno"> 1088</span>&#160; fTimer.expires_after(timeout);</div><div class="line"><a name="l01089"></a><span class="lineno"> 1089</span>&#160; fTimer.async_wait([&amp;](std::error_code ec) {</div><div class="line"><a name="l01090"></a><span class="lineno"> 1090</span>&#160; <span class="keywordflow">if</span> (!ec) {</div><div class="line"><a name="l01091"></a><span class="lineno"> 1091</span>&#160; std::lock_guard&lt;std::mutex&gt; lk(fMtx);</div><div class="line"><a name="l01092"></a><span class="lineno"> 1092</span>&#160; fOp.Timeout(fFailedDevices);</div><div class="line"><a name="l01093"></a><span class="lineno"> 1093</span>&#160; }</div><div class="line"><a name="l01094"></a><span class="lineno"> 1094</span>&#160; });</div><div class="line"><a name="l01095"></a><span class="lineno"> 1095</span>&#160; }</div><div class="line"><a name="l01096"></a><span class="lineno"> 1096</span>&#160; <span class="comment">// FAIR_LOG(debug) &lt;&lt; &quot;SetProperties &quot; &lt;&lt; fId &lt;&lt; &quot; with expected count of &quot; &lt;&lt; fExpectedCount &lt;&lt; &quot; started.&quot;;</span></div><div class="line"><a name="l01097"></a><span class="lineno"> 1097</span>&#160; }</div><div class="line"><a name="l01098"></a><span class="lineno"> 1098</span>&#160; SetPropertiesOp() = <span class="keyword">delete</span>;</div><div class="line"><a name="l01099"></a><span class="lineno"> 1099</span>&#160; SetPropertiesOp(<span class="keyword">const</span> SetPropertiesOp&amp;) = <span class="keyword">delete</span>;</div><div class="line"><a name="l01100"></a><span class="lineno"> 1100</span>&#160; SetPropertiesOp&amp; operator=(<span class="keyword">const</span> SetPropertiesOp&amp;) = <span class="keyword">delete</span>;</div><div class="line"><a name="l01101"></a><span class="lineno"> 1101</span>&#160; SetPropertiesOp(SetPropertiesOp&amp;&amp;) = <span class="keywordflow">default</span>;</div><div class="line"><a name="l01102"></a><span class="lineno"> 1102</span>&#160; SetPropertiesOp&amp; operator=(SetPropertiesOp&amp;&amp;) = <span class="keywordflow">default</span>;</div><div class="line"><a name="l01103"></a><span class="lineno"> 1103</span>&#160; ~SetPropertiesOp() = <span class="keywordflow">default</span>;</div><div class="line"><a name="l01104"></a><span class="lineno"> 1104</span>&#160;</div><div class="line"><a name="l01105"></a><span class="lineno"> 1105</span>&#160; <span class="keyword">auto</span> Update(<span class="keyword">const</span> std::string&amp; deviceId, cmd::Result result) -&gt; <span class="keywordtype">void</span></div><div class="line"><a name="l01106"></a><span class="lineno"> 1106</span>&#160; {</div><div class="line"><a name="l01107"></a><span class="lineno"> 1107</span>&#160; std::lock_guard&lt;std::mutex&gt; lk(fMtx);</div><div class="line"><a name="l01108"></a><span class="lineno"> 1108</span>&#160; <span class="keywordflow">if</span> (cmd::Result::Ok != result) {</div><div class="line"><a name="l01109"></a><span class="lineno"> 1109</span>&#160; fFailedDevices.insert(deviceId);</div><div class="line"><a name="l01110"></a><span class="lineno"> 1110</span>&#160; }</div><div class="line"><a name="l01111"></a><span class="lineno"> 1111</span>&#160; ++fCount;</div><div class="line"><a name="l01112"></a><span class="lineno"> 1112</span>&#160; TryCompletion();</div><div class="line"><a name="l01113"></a><span class="lineno"> 1113</span>&#160; }</div><div class="line"><a name="l01114"></a><span class="lineno"> 1114</span>&#160;</div><div class="line"><a name="l01115"></a><span class="lineno"> 1115</span>&#160; <span class="keywordtype">bool</span> IsCompleted() { <span class="keywordflow">return</span> fOp.IsCompleted(); }</div><div class="line"><a name="l01116"></a><span class="lineno"> 1116</span>&#160;</div><div class="line"><a name="l01117"></a><span class="lineno"> 1117</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l01118"></a><span class="lineno"> 1118</span>&#160; Id <span class="keyword">const</span> fId;</div><div class="line"><a name="l01119"></a><span class="lineno"> 1119</span>&#160; <a class="code" href="structfair_1_1mq_1_1sdk_1_1AsioAsyncOp.html">AsioAsyncOp&lt;Executor, Allocator, SetPropertiesCompletionSignature&gt;</a> fOp;</div><div class="line"><a name="l01120"></a><span class="lineno"> 1120</span>&#160; asio::steady_timer fTimer;</div><div class="line"><a name="l01121"></a><span class="lineno"> 1121</span>&#160; SetCount fCount;</div><div class="line"><a name="l01122"></a><span class="lineno"> 1122</span>&#160; SetCount <span class="keyword">const</span> fExpectedCount;</div><div class="line"><a name="l01123"></a><span class="lineno"> 1123</span>&#160; FailedDevices fFailedDevices;</div><div class="line"><a name="l01124"></a><span class="lineno"> 1124</span>&#160; std::mutex&amp; fMtx;</div><div class="line"><a name="l01125"></a><span class="lineno"> 1125</span>&#160;</div><div class="line"><a name="l01127"></a><span class="lineno"> 1127</span>&#160; <span class="keyword">auto</span> TryCompletion() -&gt; <span class="keywordtype">void</span></div><div class="line"><a name="l01128"></a><span class="lineno"> 1128</span>&#160; {</div><div class="line"><a name="l01129"></a><span class="lineno"> 1129</span>&#160; <span class="keywordflow">if</span> (!fOp.IsCompleted() &amp;&amp; fCount == fExpectedCount) {</div><div class="line"><a name="l01130"></a><span class="lineno"> 1130</span>&#160; fTimer.cancel();</div><div class="line"><a name="l01131"></a><span class="lineno"> 1131</span>&#160; <span class="keywordflow">if</span> (fFailedDevices.size() &gt; 0) {</div><div class="line"><a name="l01132"></a><span class="lineno"> 1132</span>&#160; fOp.Complete(MakeErrorCode(ErrorCode::DeviceSetPropertiesFailed), fFailedDevices);</div><div class="line"><a name="l01133"></a><span class="lineno"> 1133</span>&#160; } <span class="keywordflow">else</span> {</div><div class="line"><a name="l01134"></a><span class="lineno"> 1134</span>&#160; fOp.Complete(fFailedDevices);</div><div class="line"><a name="l01135"></a><span class="lineno"> 1135</span>&#160; }</div><div class="line"><a name="l01136"></a><span class="lineno"> 1136</span>&#160; }</div><div class="line"><a name="l01137"></a><span class="lineno"> 1137</span>&#160; }</div><div class="line"><a name="l01138"></a><span class="lineno"> 1138</span>&#160; };</div><div class="line"><a name="l01139"></a><span class="lineno"> 1139</span>&#160;</div><div class="line"><a name="l01140"></a><span class="lineno"> 1140</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l01148"></a><span class="lineno"> 1148</span>&#160; <span class="keyword">template</span>&lt;<span class="keyword">typename</span> CompletionToken&gt;</div><div class="line"><a name="l01149"></a><span class="lineno"><a class="line" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a625808ae1486e47bbaae3879521462a1"> 1149</a></span>&#160; <span class="keyword">auto</span> <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a625808ae1486e47bbaae3879521462a1">AsyncSetProperties</a>(<span class="keyword">const</span> DeviceProperties&amp; props,</div><div class="line"><a name="l01150"></a><span class="lineno"> 1150</span>&#160; <span class="keyword">const</span> std::string&amp; path,</div><div class="line"><a name="l01151"></a><span class="lineno"> 1151</span>&#160; Duration timeout,</div><div class="line"><a name="l01152"></a><span class="lineno"> 1152</span>&#160; CompletionToken&amp;&amp; token)</div><div class="line"><a name="l01153"></a><span class="lineno"> 1153</span>&#160; {</div><div class="line"><a name="l01154"></a><span class="lineno"> 1154</span>&#160; <span class="keywordflow">return</span> asio::async_initiate&lt;CompletionToken, SetPropertiesCompletionSignature&gt;(</div><div class="line"><a name="l01155"></a><span class="lineno"> 1155</span>&#160; [&amp;](<span class="keyword">auto</span> handler) {</div><div class="line"><a name="l01156"></a><span class="lineno"> 1156</span>&#160; <span class="keyword">typename</span> SetPropertiesOp::Id <span class="keyword">const</span> id(tools::UuidHash());</div><div class="line"><a name="l01157"></a><span class="lineno"> 1157</span>&#160;</div><div class="line"><a name="l01158"></a><span class="lineno"> 1158</span>&#160; std::lock_guard&lt;std::mutex&gt; lk(fMtx);</div><div class="line"><a name="l01159"></a><span class="lineno"> 1159</span>&#160;</div><div class="line"><a name="l01160"></a><span class="lineno"> 1160</span>&#160; <span class="keywordflow">for</span> (<span class="keyword">auto</span> it = begin(fGetPropertiesOps); it != end(fGetPropertiesOps);) {</div><div class="line"><a name="l01161"></a><span class="lineno"> 1161</span>&#160; <span class="keywordflow">if</span> (it-&gt;second.IsCompleted()) {</div><div class="line"><a name="l01162"></a><span class="lineno"> 1162</span>&#160; it = fGetPropertiesOps.erase(it);</div><div class="line"><a name="l01163"></a><span class="lineno"> 1163</span>&#160; } <span class="keywordflow">else</span> {</div><div class="line"><a name="l01164"></a><span class="lineno"> 1164</span>&#160; ++it;</div><div class="line"><a name="l01165"></a><span class="lineno"> 1165</span>&#160; }</div><div class="line"><a name="l01166"></a><span class="lineno"> 1166</span>&#160; }</div><div class="line"><a name="l01167"></a><span class="lineno"> 1167</span>&#160;</div><div class="line"><a name="l01168"></a><span class="lineno"> 1168</span>&#160; fSetPropertiesOps.emplace(</div><div class="line"><a name="l01169"></a><span class="lineno"> 1169</span>&#160; std::piecewise_construct,</div><div class="line"><a name="l01170"></a><span class="lineno"> 1170</span>&#160; std::forward_as_tuple(<span class="keywordtype">id</span>),</div><div class="line"><a name="l01171"></a><span class="lineno"> 1171</span>&#160; std::forward_as_tuple(<span class="keywordtype">id</span>,</div><div class="line"><a name="l01172"></a><span class="lineno"> 1172</span>&#160; fDDSTopo.GetTasks(path).size(),</div><div class="line"><a name="l01173"></a><span class="lineno"> 1173</span>&#160; timeout,</div><div class="line"><a name="l01174"></a><span class="lineno"> 1174</span>&#160; fMtx,</div><div class="line"><a name="l01175"></a><span class="lineno"> 1175</span>&#160; <a class="code" href="classfair_1_1mq_1_1sdk_1_1AsioBase.html#aa4a40d98197b0ca731b855f811761741">AsioBase&lt;Executor, Allocator&gt;::GetExecutor</a>(),</div><div class="line"><a name="l01176"></a><span class="lineno"> 1176</span>&#160; <a class="code" href="classfair_1_1mq_1_1sdk_1_1AsioBase.html#a10c8108cd520e7a1ec2bced4b80df69d">AsioBase&lt;Executor, Allocator&gt;::GetAllocator</a>(),</div><div class="line"><a name="l01177"></a><span class="lineno"> 1177</span>&#160; std::move(handler)));</div><div class="line"><a name="l01178"></a><span class="lineno"> 1178</span>&#160;</div><div class="line"><a name="l01179"></a><span class="lineno"> 1179</span>&#160; <a class="code" href="structfair_1_1mq_1_1sdk_1_1cmd_1_1Cmds.html">cmd::Cmds</a> <span class="keyword">const</span> cmds(cmd::make&lt;cmd::SetProperties&gt;(<span class="keywordtype">id</span>, props));</div><div class="line"><a name="l01180"></a><span class="lineno"> 1180</span>&#160; fDDSSession.SendCommand(cmds.Serialize(), path);</div><div class="line"><a name="l01181"></a><span class="lineno"> 1181</span>&#160; },</div><div class="line"><a name="l01182"></a><span class="lineno"> 1182</span>&#160; token);</div><div class="line"><a name="l01183"></a><span class="lineno"> 1183</span>&#160; }</div><div class="line"><a name="l01184"></a><span class="lineno"> 1184</span>&#160;</div><div class="line"><a name="l01190"></a><span class="lineno"> 1190</span>&#160; <span class="keyword">template</span>&lt;<span class="keyword">typename</span> CompletionToken&gt;</div><div class="line"><a name="l01191"></a><span class="lineno"><a class="line" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a55c2824288e7238dd3394ee56c6c29b1"> 1191</a></span>&#160; <span class="keyword">auto</span> <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a55c2824288e7238dd3394ee56c6c29b1">AsyncSetProperties</a>(DeviceProperties <span class="keyword">const</span> &amp; props, CompletionToken&amp;&amp; token)</div><div class="line"><a name="l01192"></a><span class="lineno"> 1192</span>&#160; {</div><div class="line"><a name="l01193"></a><span class="lineno"> 1193</span>&#160; <span class="keywordflow">return</span> AsyncSetProperties(props, <span class="stringliteral">&quot;&quot;</span>, Duration(0), std::move(token));</div><div class="line"><a name="l01194"></a><span class="lineno"> 1194</span>&#160; }</div><div class="line"><a name="l01195"></a><span class="lineno"> 1195</span>&#160;</div><div class="line"><a name="l01201"></a><span class="lineno"><a class="line" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a869d5f7d468c63864415bbb54600aaf0"> 1201</a></span>&#160; <span class="keyword">auto</span> <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a869d5f7d468c63864415bbb54600aaf0">SetProperties</a>(DeviceProperties <span class="keyword">const</span>&amp; properties, <span class="keyword">const</span> std::string&amp; path = <span class="stringliteral">&quot;&quot;</span>, Duration timeout = Duration(0))</div><div class="line"><a name="l01202"></a><span class="lineno"> 1202</span>&#160; -&gt; std::pair&lt;std::error_code, FailedDevices&gt;</div><div class="line"><a name="l01203"></a><span class="lineno"> 1203</span>&#160; {</div><div class="line"><a name="l01204"></a><span class="lineno"> 1204</span>&#160; <a class="code" href="structfair_1_1mq_1_1tools_1_1SharedSemaphore.html">tools::SharedSemaphore</a> blocker;</div><div class="line"><a name="l01205"></a><span class="lineno"> 1205</span>&#160; std::error_code ec;</div><div class="line"><a name="l01206"></a><span class="lineno"> 1206</span>&#160; FailedDevices failed;</div><div class="line"><a name="l01207"></a><span class="lineno"> 1207</span>&#160; AsyncSetProperties(properties, path, timeout, [&amp;, blocker](std::error_code _ec, FailedDevices _failed) <span class="keyword">mutable</span> {</div><div class="line"><a name="l01208"></a><span class="lineno"> 1208</span>&#160; ec = _ec;</div><div class="line"><a name="l01209"></a><span class="lineno"> 1209</span>&#160; failed = _failed;</div><div class="line"><a name="l01210"></a><span class="lineno"> 1210</span>&#160; blocker.Signal();</div><div class="line"><a name="l01211"></a><span class="lineno"> 1211</span>&#160; });</div><div class="line"><a name="l01212"></a><span class="lineno"> 1212</span>&#160; blocker.Wait();</div><div class="line"><a name="l01213"></a><span class="lineno"> 1213</span>&#160; <span class="keywordflow">return</span> {ec, failed};</div><div class="line"><a name="l01214"></a><span class="lineno"> 1214</span>&#160; }</div><div class="line"><a name="l01215"></a><span class="lineno"> 1215</span>&#160;</div><div class="line"><a name="l01216"></a><span class="lineno"> 1216</span>&#160; Duration GetHeartbeatInterval()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> fHeartbeatInterval; }</div><div class="line"><a name="l01217"></a><span class="lineno"> 1217</span>&#160; <span class="keywordtype">void</span> SetHeartbeatInterval(Duration duration) { fHeartbeatInterval = duration; }</div><div class="line"><a name="l01218"></a><span class="lineno"> 1218</span>&#160;</div><div class="line"><a name="l01219"></a><span class="lineno"> 1219</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l01220"></a><span class="lineno"> 1220</span>&#160; <span class="keyword">using</span> TransitionedCount = <span class="keywordtype">unsigned</span> int;</div><div class="line"><a name="l01221"></a><span class="lineno"> 1221</span>&#160;</div><div class="line"><a name="l01222"></a><span class="lineno"> 1222</span>&#160; <a class="code" href="classfair_1_1mq_1_1sdk_1_1DDSSession.html">DDSSession</a> fDDSSession;</div><div class="line"><a name="l01223"></a><span class="lineno"> 1223</span>&#160; <a class="code" href="classfair_1_1mq_1_1sdk_1_1DDSTopology.html">DDSTopology</a> fDDSTopo;</div><div class="line"><a name="l01224"></a><span class="lineno"> 1224</span>&#160; TopologyState fStateData;</div><div class="line"><a name="l01225"></a><span class="lineno"> 1225</span>&#160; TopologyStateIndex fStateIndex;</div><div class="line"><a name="l01226"></a><span class="lineno"> 1226</span>&#160;</div><div class="line"><a name="l01227"></a><span class="lineno"> 1227</span>&#160; <span class="keyword">mutable</span> std::mutex fMtx;</div><div class="line"><a name="l01228"></a><span class="lineno"> 1228</span>&#160;</div><div class="line"><a name="l01229"></a><span class="lineno"> 1229</span>&#160; std::condition_variable fStateChangeUnsubscriptionCV;</div><div class="line"><a name="l01230"></a><span class="lineno"> 1230</span>&#160; asio::steady_timer fHeartbeatsTimer;</div><div class="line"><a name="l01231"></a><span class="lineno"> 1231</span>&#160; Duration fHeartbeatInterval;</div><div class="line"><a name="l01232"></a><span class="lineno"> 1232</span>&#160;</div><div class="line"><a name="l01233"></a><span class="lineno"> 1233</span>&#160; std::unordered_map&lt;typename ChangeStateOp::Id, ChangeStateOp&gt; fChangeStateOps;</div><div class="line"><a name="l01234"></a><span class="lineno"> 1234</span>&#160; std::unordered_map&lt;typename WaitForStateOp::Id, WaitForStateOp&gt; fWaitForStateOps;</div><div class="line"><a name="l01235"></a><span class="lineno"> 1235</span>&#160; std::unordered_map&lt;typename SetPropertiesOp::Id, SetPropertiesOp&gt; fSetPropertiesOps;</div><div class="line"><a name="l01236"></a><span class="lineno"> 1236</span>&#160; std::unordered_map&lt;typename GetPropertiesOp::Id, GetPropertiesOp&gt; fGetPropertiesOps;</div><div class="line"><a name="l01237"></a><span class="lineno"> 1237</span>&#160;</div><div class="line"><a name="l01238"></a><span class="lineno"> 1238</span>&#160; <span class="keyword">auto</span> makeTopologyState() -&gt; <span class="keywordtype">void</span></div><div class="line"><a name="l01239"></a><span class="lineno"> 1239</span>&#160; {</div><div class="line"><a name="l01240"></a><span class="lineno"> 1240</span>&#160; fStateData.reserve(fDDSTopo.<a class="code" href="classfair_1_1mq_1_1sdk_1_1DDSTopology.html#a8fa1e51a0238c14f1a0fe1fccaa03f56">GetTasks</a>().size());</div><div class="line"><a name="l01241"></a><span class="lineno"> 1241</span>&#160;</div><div class="line"><a name="l01242"></a><span class="lineno"> 1242</span>&#160; <span class="keywordtype">int</span> index = 0;</div><div class="line"><a name="l01243"></a><span class="lineno"> 1243</span>&#160;</div><div class="line"><a name="l01244"></a><span class="lineno"> 1244</span>&#160; <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; task : fDDSTopo.<a class="code" href="classfair_1_1mq_1_1sdk_1_1DDSTopology.html#a8fa1e51a0238c14f1a0fe1fccaa03f56">GetTasks</a>()) {</div><div class="line"><a name="l01245"></a><span class="lineno"> 1245</span>&#160; fStateData.push_back(<a class="code" href="structfair_1_1mq_1_1sdk_1_1DeviceStatus.html">DeviceStatus</a>{<span class="keyword">false</span>, DeviceState::Ok, DeviceState::Ok, task.GetId(), task.GetCollectionId()});</div><div class="line"><a name="l01246"></a><span class="lineno"> 1246</span>&#160; fStateIndex.emplace(task.GetId(), index);</div><div class="line"><a name="l01247"></a><span class="lineno"> 1247</span>&#160; index++;</div><div class="line"><a name="l01248"></a><span class="lineno"> 1248</span>&#160; }</div><div class="line"><a name="l01249"></a><span class="lineno"> 1249</span>&#160; }</div><div class="line"><a name="l01250"></a><span class="lineno"> 1250</span>&#160;</div><div class="line"><a name="l01252"></a><span class="lineno"> 1252</span>&#160; <span class="keyword">auto</span> GetCurrentStateUnsafe() <span class="keyword">const</span> -&gt; TopologyState</div><div class="line"><a name="l01253"></a><span class="lineno"> 1253</span>&#160; {</div><div class="line"><a name="l01254"></a><span class="lineno"> 1254</span>&#160; <span class="keywordflow">return</span> fStateData;</div><div class="line"><a name="l01255"></a><span class="lineno"> 1255</span>&#160; }</div><div class="line"><a name="l01256"></a><span class="lineno"> 1256</span>&#160;};</div><div class="line"><a name="l01257"></a><span class="lineno"> 1257</span>&#160;</div><div class="line"><a name="l01258"></a><span class="lineno"> 1258</span>&#160;<span class="keyword">using</span> <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html">Topology</a> = <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html">BasicTopology&lt;DefaultExecutor, DefaultAllocator&gt;</a>;</div><div class="line"><a name="l01259"></a><span class="lineno"> 1259</span>&#160;<span class="keyword">using</span> <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html">Topo</a> = <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html">Topology</a>;</div><div class="line"><a name="l01260"></a><span class="lineno"> 1260</span>&#160;</div><div class="line"><a name="l01265"></a><span class="lineno"> 1265</span>&#160;<span class="keyword">auto</span> MakeTopology(dds::topology_api::CTopology nativeTopo,</div><div class="line"><a name="l01266"></a><span class="lineno"> 1266</span>&#160; std::shared_ptr&lt;dds::tools_api::CSession&gt; nativeSession,</div><div class="line"><a name="l01267"></a><span class="lineno"> 1267</span>&#160; <a class="code" href="classfair_1_1mq_1_1sdk_1_1DDSEnvironment.html">DDSEnv</a> env = {}) -&gt; <a class="code" href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html">Topology</a>;</div><div class="line"><a name="l01268"></a><span class="lineno"> 1268</span>&#160;</div><div class="line"><a name="l01269"></a><span class="lineno"> 1269</span>&#160;} <span class="comment">// namespace sdk</span></div><div class="line"><a name="l01270"></a><span class="lineno"> 1270</span>&#160;} <span class="comment">// namespace mq</span></div><div class="line"><a name="l01271"></a><span class="lineno"> 1271</span>&#160;} <span class="comment">// namespace fair</span></div><div class="line"><a name="l01272"></a><span class="lineno"> 1272</span>&#160;</div><div class="line"><a name="l01273"></a><span class="lineno"> 1273</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* FAIR_MQ_SDK_TOPOLOGY_H */</span><span class="preprocessor"></span></div><div class="ttc" id="classfair_1_1mq_1_1sdk_1_1BasicTopology_html"><div class="ttname"><a href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html">fair::mq::sdk::BasicTopology</a></div><div class="ttdoc">Represents a FairMQ topology. </div><div class="ttdef"><b>Definition:</b> Topology.h:154</div></div>
<div class="ttc" id="classfair_1_1mq_1_1sdk_1_1DDSSession_html"><div class="ttname"><a href="classfair_1_1mq_1_1sdk_1_1DDSSession.html">fair::mq::sdk::DDSSession</a></div><div class="ttdoc">Represents a DDS session. </div><div class="ttdef"><b>Definition:</b> DDSSession.h:56</div></div>
<div class="ttc" id="classfair_1_1mq_1_1sdk_1_1BasicTopology_html_aa5b4640b00e06124a0e8098b05be47b9"><div class="ttname"><a href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#aa5b4640b00e06124a0e8098b05be47b9">fair::mq::sdk::BasicTopology::AsyncChangeState</a></div><div class="ttdeci">auto AsyncChangeState(const TopologyTransition transition, CompletionToken &amp;&amp;token)</div><div class="ttdoc">Initiate state transition on all FairMQ devices in this topology. </div><div class="ttdef"><b>Definition:</b> Topology.h:637</div></div>
<div class="ttc" id="structfair_1_1mq_1_1sdk_1_1GetPropertiesResult_html"><div class="ttname"><a href="structfair_1_1mq_1_1sdk_1_1GetPropertiesResult.html">fair::mq::sdk::GetPropertiesResult</a></div><div class="ttdef"><b>Definition:</b> Topology.h:87</div></div>
<div class="ttc" id="classfair_1_1mq_1_1sdk_1_1AsioBase_html_aa4a40d98197b0ca731b855f811761741"><div class="ttname"><a href="classfair_1_1mq_1_1sdk_1_1AsioBase.html#aa4a40d98197b0ca731b855f811761741">fair::mq::sdk::AsioBase::GetExecutor</a></div><div class="ttdeci">auto GetExecutor() const noexcept -&gt; ExecutorType</div><div class="ttdoc">Get associated I/O executor. </div><div class="ttdef"><b>Definition:</b> AsioBase.h:41</div></div>
<div class="ttc" id="structfair_1_1mq_1_1sdk_1_1cmd_1_1StateChangeSubscription_html"><div class="ttname"><a href="structfair_1_1mq_1_1sdk_1_1cmd_1_1StateChangeSubscription.html">fair::mq::sdk::cmd::StateChangeSubscription</a></div><div class="ttdef"><b>Definition:</b> Commands.h:233</div></div>
<div class="ttc" id="structfair_1_1mq_1_1sdk_1_1AsioAsyncOp_html"><div class="ttname"><a href="structfair_1_1mq_1_1sdk_1_1AsioAsyncOp.html">fair::mq::sdk::AsioAsyncOp&lt; Executor, Allocator, ChangeStateCompletionSignature &gt;</a></div></div>
<div class="ttc" id="classfair_1_1mq_1_1sdk_1_1BasicTopology_html_a55c2824288e7238dd3394ee56c6c29b1"><div class="ttname"><a href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a55c2824288e7238dd3394ee56c6c29b1">fair::mq::sdk::BasicTopology::AsyncSetProperties</a></div><div class="ttdeci">auto AsyncSetProperties(DeviceProperties const &amp;props, CompletionToken &amp;&amp;token)</div><div class="ttdoc">Initiate property update on selected FairMQ devices in this topology. </div><div class="ttdef"><b>Definition:</b> Topology.h:1191</div></div>
<div class="ttc" id="structfair_1_1mq_1_1sdk_1_1cmd_1_1TransitionStatus_html"><div class="ttname"><a href="structfair_1_1mq_1_1sdk_1_1cmd_1_1TransitionStatus.html">fair::mq::sdk::cmd::TransitionStatus</a></div><div class="ttdef"><b>Definition:</b> Commands.h:189</div></div>
<div class="ttc" id="classfair_1_1mq_1_1sdk_1_1AsioBase_html_a10c8108cd520e7a1ec2bced4b80df69d"><div class="ttname"><a href="classfair_1_1mq_1_1sdk_1_1AsioBase.html#a10c8108cd520e7a1ec2bced4b80df69d">fair::mq::sdk::AsioBase::GetAllocator</a></div><div class="ttdeci">auto GetAllocator() const noexcept -&gt; AllocatorType</div><div class="ttdoc">Get associated default allocator. </div><div class="ttdef"><b>Definition:</b> AsioBase.h:46</div></div>
<div class="ttc" id="classfair_1_1mq_1_1sdk_1_1AsioBase_html"><div class="ttname"><a href="classfair_1_1mq_1_1sdk_1_1AsioBase.html">fair::mq::sdk::AsioBase</a></div><div class="ttdoc">Base for creating Asio-enabled I/O objects. </div><div class="ttdef"><b>Definition:</b> AsioBase.h:35</div></div>
<div class="ttc" id="namespacestd_html"><div class="ttname"><a href="namespacestd.html">std</a></div><div class="ttdef"><b>Definition:</b> Error.h:56</div></div>
<div class="ttc" id="classfair_1_1mq_1_1sdk_1_1BasicTopology_html_a58224c9577ad69b738a9af5c20716a9e"><div class="ttname"><a href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a58224c9577ad69b738a9af5c20716a9e">fair::mq::sdk::BasicTopology::AsyncWaitForState</a></div><div class="ttdeci">auto AsyncWaitForState(const DeviceState targetCurrentState, CompletionToken &amp;&amp;token)</div><div class="ttdoc">Initiate waiting for selected FairMQ devices to reach given current state in this topology...</div><div class="ttdef"><b>Definition:</b> Topology.h:874</div></div>
<div class="ttc" id="classfair_1_1mq_1_1sdk_1_1BasicTopology_html_aaddb0296f1d9f282cd31b9d339c43eb9"><div class="ttname"><a href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#aaddb0296f1d9f282cd31b9d339c43eb9">fair::mq::sdk::BasicTopology::AsyncWaitForState</a></div><div class="ttdeci">auto AsyncWaitForState(const DeviceState targetLastState, const DeviceState targetCurrentState, CompletionToken &amp;&amp;token)</div><div class="ttdoc">Initiate waiting for selected FairMQ devices to reach given last &amp; current state in this topology...</div><div class="ttdef"><b>Definition:</b> Topology.h:863</div></div>
<div class="ttc" id="structfair_1_1mq_1_1sdk_1_1GetPropertiesResult_1_1Device_html"><div class="ttname"><a href="structfair_1_1mq_1_1sdk_1_1GetPropertiesResult_1_1Device.html">fair::mq::sdk::GetPropertiesResult::Device</a></div><div class="ttdef"><b>Definition:</b> Topology.h:89</div></div>
<div class="ttc" id="classfair_1_1mq_1_1sdk_1_1BasicTopology_html_a7d36f2154b3a3b83aede836948ef47a1"><div class="ttname"><a href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a7d36f2154b3a3b83aede836948ef47a1">fair::mq::sdk::BasicTopology::WaitForState</a></div><div class="ttdeci">auto WaitForState(const DeviceState targetLastState, const DeviceState targetCurrentState, const std::string &amp;path=&quot;&quot;, Duration timeout=Duration(0)) -&gt; std::error_code</div><div class="ttdoc">Wait for selected FairMQ devices to reach given last &amp; current state in this topology. </div><div class="ttdef"><b>Definition:</b> Topology.h:885</div></div>
<div class="ttc" id="classfair_1_1mq_1_1sdk_1_1BasicTopology_html_a834ce9bc3d4a79e3f369299af973391a"><div class="ttname"><a href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a834ce9bc3d4a79e3f369299af973391a">fair::mq::sdk::BasicTopology::AsyncWaitForState</a></div><div class="ttdeci">auto AsyncWaitForState(const DeviceState targetLastState, const DeviceState targetCurrentState, const std::string &amp;path, Duration timeout, CompletionToken &amp;&amp;token)</div><div class="ttdoc">Initiate waiting for selected FairMQ devices to reach given last &amp; current state in this topology...</div><div class="ttdef"><b>Definition:</b> Topology.h:818</div></div>
<div class="ttc" id="classfair_1_1mq_1_1sdk_1_1DDSTask_html"><div class="ttname"><a href="classfair_1_1mq_1_1sdk_1_1DDSTask.html">fair::mq::sdk::DDSTask</a></div><div class="ttdoc">Represents a DDS task. </div><div class="ttdef"><b>Definition:</b> DDSTask.h:25</div></div>
<div class="ttc" id="classfair_1_1mq_1_1sdk_1_1BasicTopology_html_a729cd0dcf3b74fc23b5a92a3ab7fecdf"><div class="ttname"><a href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a729cd0dcf3b74fc23b5a92a3ab7fecdf">fair::mq::sdk::BasicTopology::AsyncChangeState</a></div><div class="ttdeci">auto AsyncChangeState(const TopologyTransition transition, Duration timeout, CompletionToken &amp;&amp;token)</div><div class="ttdoc">Initiate state transition on all FairMQ devices in this topology with a timeout. </div><div class="ttdef"><b>Definition:</b> Topology.h:649</div></div>
<div class="ttc" id="structfair_1_1mq_1_1sdk_1_1cmd_1_1Properties_html"><div class="ttname"><a href="structfair_1_1mq_1_1sdk_1_1cmd_1_1Properties.html">fair::mq::sdk::cmd::Properties</a></div><div class="ttdef"><b>Definition:</b> Commands.h:303</div></div>
<div class="ttc" id="classfair_1_1mq_1_1sdk_1_1BasicTopology_html_ab68803df2810c82f36662209026a0d90"><div class="ttname"><a href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#ab68803df2810c82f36662209026a0d90">fair::mq::sdk::BasicTopology::AsyncGetProperties</a></div><div class="ttdeci">auto AsyncGetProperties(DevicePropertyQuery const &amp;query, CompletionToken &amp;&amp;token)</div><div class="ttdoc">Initiate property query on selected FairMQ devices in this topology. </div><div class="ttdef"><b>Definition:</b> Topology.h:1038</div></div>
<div class="ttc" id="classfair_1_1mq_1_1sdk_1_1BasicTopology_html_a138b4e48a0c000fe78932189f679ce27"><div class="ttname"><a href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a138b4e48a0c000fe78932189f679ce27">fair::mq::sdk::BasicTopology::AsyncChangeState</a></div><div class="ttdeci">auto AsyncChangeState(const TopologyTransition transition, const std::string &amp;path, Duration timeout, CompletionToken &amp;&amp;token)</div><div class="ttdoc">Initiate state transition on all FairMQ devices in this topology. </div><div class="ttdef"><b>Definition:</b> Topology.h:589</div></div>
<div class="ttc" id="classfair_1_1mq_1_1sdk_1_1BasicTopology_html_aa97ffce815eb1b2af591f8e31263099e"><div class="ttname"><a href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#aa97ffce815eb1b2af591f8e31263099e">fair::mq::sdk::BasicTopology::ChangeState</a></div><div class="ttdeci">auto ChangeState(const TopologyTransition transition, const std::string &amp;path=&quot;&quot;, Duration timeout=Duration(0)) -&gt; std::pair&lt; std::error_code, TopologyState &gt;</div><div class="ttdoc">Perform state transition on FairMQ devices in this topology for a specified topology path...</div><div class="ttdef"><b>Definition:</b> Topology.h:671</div></div>
<div class="ttc" id="classfair_1_1mq_1_1sdk_1_1BasicTopology_html_a81f00e79151817b32420d60ea926a8ba"><div class="ttname"><a href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a81f00e79151817b32420d60ea926a8ba">fair::mq::sdk::BasicTopology::ChangeState</a></div><div class="ttdeci">auto ChangeState(const TopologyTransition transition, Duration timeout) -&gt; std::pair&lt; std::error_code, TopologyState &gt;</div><div class="ttdoc">Perform state transition on all FairMQ devices in this topology with a timeout. </div><div class="ttdef"><b>Definition:</b> Topology.h:690</div></div>
<div class="ttc" id="structfair_1_1mq_1_1sdk_1_1DeviceStatus_html"><div class="ttname"><a href="structfair_1_1mq_1_1sdk_1_1DeviceStatus.html">fair::mq::sdk::DeviceStatus</a></div><div class="ttdef"><b>Definition:</b> Topology.h:73</div></div>
<div class="ttc" id="structfair_1_1mq_1_1sdk_1_1MixedStateError_html"><div class="ttname"><a href="structfair_1_1mq_1_1sdk_1_1MixedStateError.html">fair::mq::sdk::MixedStateError</a></div><div class="ttdef"><b>Definition:</b> Error.h:28</div></div>
<div class="ttc" id="classfair_1_1mq_1_1sdk_1_1BasicTopology_html_a625808ae1486e47bbaae3879521462a1"><div class="ttname"><a href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a625808ae1486e47bbaae3879521462a1">fair::mq::sdk::BasicTopology::AsyncSetProperties</a></div><div class="ttdeci">auto AsyncSetProperties(const DeviceProperties &amp;props, const std::string &amp;path, Duration timeout, CompletionToken &amp;&amp;token)</div><div class="ttdoc">Initiate property update on selected FairMQ devices in this topology. </div><div class="ttdef"><b>Definition:</b> Topology.h:1149</div></div>
<div class="ttc" id="classfair_1_1mq_1_1sdk_1_1BasicTopology_html_a48d74222cda9c4823c4574f2c0c3d47e"><div class="ttname"><a href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a48d74222cda9c4823c4574f2c0c3d47e">fair::mq::sdk::BasicTopology::AsyncGetProperties</a></div><div class="ttdeci">auto AsyncGetProperties(DevicePropertyQuery const &amp;query, const std::string &amp;path, Duration timeout, CompletionToken &amp;&amp;token)</div><div class="ttdoc">Initiate property query on selected FairMQ devices in this topology. </div><div class="ttdef"><b>Definition:</b> Topology.h:996</div></div>
<div class="ttc" id="classfair_1_1mq_1_1sdk_1_1DDSTopology_html_a8fa1e51a0238c14f1a0fe1fccaa03f56"><div class="ttname"><a href="classfair_1_1mq_1_1sdk_1_1DDSTopology.html#a8fa1e51a0238c14f1a0fe1fccaa03f56">fair::mq::sdk::DDSTopology::GetTasks</a></div><div class="ttdeci">auto GetTasks(const std::string &amp;=&quot;&quot;) const -&gt; std::vector&lt; DDSTask &gt;</div><div class="ttdoc">Get list of tasks in this topology, optionally matching provided path. </div><div class="ttdef"><b>Definition:</b> DDSTopology.cxx:67</div></div>
<div class="ttc" id="structfair_1_1mq_1_1sdk_1_1cmd_1_1PropertiesSet_html"><div class="ttname"><a href="structfair_1_1mq_1_1sdk_1_1cmd_1_1PropertiesSet.html">fair::mq::sdk::cmd::PropertiesSet</a></div><div class="ttdef"><b>Definition:</b> Commands.h:329</div></div>
<div class="ttc" id="structfair_1_1mq_1_1sdk_1_1cmd_1_1Cmds_html"><div class="ttname"><a href="structfair_1_1mq_1_1sdk_1_1cmd_1_1Cmds.html">fair::mq::sdk::cmd::Cmds</a></div><div class="ttdef"><b>Definition:</b> Commands.h:356</div></div>
<div class="ttc" id="structfair_1_1mq_1_1tools_1_1SharedSemaphore_html"><div class="ttname"><a href="structfair_1_1mq_1_1tools_1_1SharedSemaphore.html">fair::mq::tools::SharedSemaphore</a></div><div class="ttdoc">A simple copyable blocking semaphore. </div><div class="ttdef"><b>Definition:</b> Semaphore.h:45</div></div>
<div class="ttc" id="classfair_1_1mq_1_1sdk_1_1BasicTopology_html_a247c01cea078f6f53e3b2f185583930c"><div class="ttname"><a href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a247c01cea078f6f53e3b2f185583930c">fair::mq::sdk::BasicTopology::GetCurrentState</a></div><div class="ttdeci">auto GetCurrentState() const -&gt; TopologyState</div><div class="ttdoc">Returns the current state of the topology. </div><div class="ttdef"><b>Definition:</b> Topology.h:698</div></div>
<div class="ttc" id="classfair_1_1mq_1_1sdk_1_1BasicTopology_html_a50e4f6e8631802ff17ca37e1623c4261"><div class="ttname"><a href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a50e4f6e8631802ff17ca37e1623c4261">fair::mq::sdk::BasicTopology::BasicTopology</a></div><div class="ttdeci">BasicTopology(const Executor &amp;ex, DDSTopology topo, DDSSession session, Allocator alloc=DefaultAllocator())</div><div class="ttdoc">(Re)Construct a FairMQ topology from an existing DDS topology </div><div class="ttdef"><b>Definition:</b> Topology.h:169</div></div>
<div class="ttc" id="classfair_1_1mq_1_1sdk_1_1BasicTopology_html_a184b8bc417c76d908edf433c4be5499a"><div class="ttname"><a href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a184b8bc417c76d908edf433c4be5499a">fair::mq::sdk::BasicTopology::GetProperties</a></div><div class="ttdeci">auto GetProperties(DevicePropertyQuery const &amp;query, const std::string &amp;path=&quot;&quot;, Duration timeout=Duration(0)) -&gt; std::pair&lt; std::error_code, GetPropertiesResult &gt;</div><div class="ttdoc">Query properties on selected FairMQ devices in this topology. </div><div class="ttdef"><b>Definition:</b> Topology.h:1048</div></div>
<div class="ttc" id="structfair_1_1mq_1_1sdk_1_1RuntimeError_html"><div class="ttname"><a href="structfair_1_1mq_1_1sdk_1_1RuntimeError.html">fair::mq::sdk::RuntimeError</a></div><div class="ttdef"><b>Definition:</b> Error.h:20</div></div>
<div class="ttc" id="structfair_1_1mq_1_1sdk_1_1cmd_1_1StateChange_html"><div class="ttname"><a href="structfair_1_1mq_1_1sdk_1_1cmd_1_1StateChange.html">fair::mq::sdk::cmd::StateChange</a></div><div class="ttdef"><b>Definition:</b> Commands.h:277</div></div>
<div class="ttc" id="namespacefair_html"><div class="ttname"><a href="namespacefair.html">fair</a></div><div class="ttdoc">Tools for interfacing containers to the transport via polymorphic allocators. </div><div class="ttdef"><b>Definition:</b> DeviceRunner.h:23</div></div>
<div class="ttc" id="classfair_1_1mq_1_1sdk_1_1BasicTopology_html_a869d5f7d468c63864415bbb54600aaf0"><div class="ttname"><a href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a869d5f7d468c63864415bbb54600aaf0">fair::mq::sdk::BasicTopology::SetProperties</a></div><div class="ttdeci">auto SetProperties(DeviceProperties const &amp;properties, const std::string &amp;path=&quot;&quot;, Duration timeout=Duration(0)) -&gt; std::pair&lt; std::error_code, FailedDevices &gt;</div><div class="ttdoc">Set properties on selected FairMQ devices in this topology. </div><div class="ttdef"><b>Definition:</b> Topology.h:1201</div></div>
<div class="ttc" id="classfair_1_1mq_1_1sdk_1_1BasicTopology_html_a1e6efa6c7cb826022280e0ba5c2bd9d9"><div class="ttname"><a href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#a1e6efa6c7cb826022280e0ba5c2bd9d9">fair::mq::sdk::BasicTopology::BasicTopology</a></div><div class="ttdeci">BasicTopology(DDSTopology topo, DDSSession session)</div><div class="ttdoc">(Re)Construct a FairMQ topology from an existing DDS topology </div><div class="ttdef"><b>Definition:</b> Topology.h:160</div></div>
<div class="ttc" id="classfair_1_1mq_1_1sdk_1_1BasicTopology_html_aedc74bf39cb2b913d9f55ea6c7d1d264"><div class="ttname"><a href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#aedc74bf39cb2b913d9f55ea6c7d1d264">fair::mq::sdk::BasicTopology::WaitForState</a></div><div class="ttdeci">auto WaitForState(const DeviceState targetCurrentState, const std::string &amp;path=&quot;&quot;, Duration timeout=Duration(0)) -&gt; std::error_code</div><div class="ttdoc">Wait for selected FairMQ devices to reach given current state in this topology. </div><div class="ttdef"><b>Definition:</b> Topology.h:903</div></div>
<div class="ttc" id="classfair_1_1mq_1_1sdk_1_1DDSEnvironment_html"><div class="ttname"><a href="classfair_1_1mq_1_1sdk_1_1DDSEnvironment.html">fair::mq::sdk::DDSEnvironment</a></div><div class="ttdoc">Sets up the DDS environment (object helper) </div><div class="ttdef"><b>Definition:</b> DDSEnvironment.h:24</div></div>
<div class="ttc" id="namespaceasio_html"><div class="ttname"><a href="namespaceasio.html">asio</a></div><div class="ttdef"><b>Definition:</b> Traits.h:16</div></div>
<div class="ttc" id="structfair_1_1mq_1_1sdk_1_1cmd_1_1StateChangeUnsubscription_html"><div class="ttname"><a href="structfair_1_1mq_1_1sdk_1_1cmd_1_1StateChangeUnsubscription.html">fair::mq::sdk::cmd::StateChangeUnsubscription</a></div><div class="ttdef"><b>Definition:</b> Commands.h:255</div></div>
<div class="ttc" id="classfair_1_1mq_1_1sdk_1_1DDSTopology_html"><div class="ttname"><a href="classfair_1_1mq_1_1sdk_1_1DDSTopology.html">fair::mq::sdk::DDSTopology</a></div><div class="ttdoc">Represents a DDS topology. </div><div class="ttdef"><b>Definition:</b> DDSTopology.h:29</div></div>
<div class="ttc" id="classfair_1_1mq_1_1sdk_1_1BasicTopology_html_aec28b345f009b9e4323fa99bfabf68d4"><div class="ttname"><a href="classfair_1_1mq_1_1sdk_1_1BasicTopology.html#aec28b345f009b9e4323fa99bfabf68d4">fair::mq::sdk::BasicTopology::AsyncChangeState</a></div><div class="ttdeci">auto AsyncChangeState(const TopologyTransition transition, const std::string &amp;path, CompletionToken &amp;&amp;token)</div><div class="ttdoc">Initiate state transition on all FairMQ devices in this topology with a timeout. </div><div class="ttdef"><b>Definition:</b> Topology.h:661</div></div>
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