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nodelink.hh

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/*********************************************************************
* File: nodelink.hh                                                  *
* Description: C++ HEADER File for the RCS Systems Team's Library    *
* Purpose:                                                           *
*      NODE_LINK objects form links between NODEs and their          *
* subordinates or NODEs that provide them with WM info.              *
*********************************************************************/

#ifndef NODELINK_HH
#define NODELINK_HH

/* Include Files */
#include "rcs_defs.hh"          /* RCS_EXPORT  */
#include "nml.hh"               /* class NML */
#include "nmlmsg.hh"            /* class NMLmsg */
#include "node.hh"              /* class NODE */
#include "cmd_msg.hh"           /* class RCS_CMD_MSG, RCS_CMD_CHANNEL  */
#include "stat_msg.hh"          /* class RCS_STAT_MSG, RCS_STAT_CHANNEL */
#include "wm_msg.hh"            /* class RCS_WM_MSG, RCS_WM_CHANNEL  */

enum NODE_LINK_TYPE
{
  NODE_WM_ONLY,
  NODE_SUBORDINATE_ONLY,
  NODE_WM_AND_SUBORDINATE,
};

class RCS_EXPORT NODE_LINK
{
  RCS_CMD_CHANNEL *cmd;         /* channel to subordinate's command buffer */
  RCS_STAT_CHANNEL *status;     /* channel to subordinate's status buffer */
  RCS_WM_CHANNEL *wm;           /* channel to world model buffer */
  int serial_number;            /* serial number used to match stats & cmds */
  RCS_CMD_MSG *cmd_msg;         /* pointer to command message for sub.  */
  int new_cmd;                  /* user sets to 1 to send a new command */
  RCS_GENERIC_CMD *generic_command;     /* Easy way to send gen. cmds. */
  NODE_LINK_TYPE type_of_link;

  friend class NODE_LINK_LIST;
public:
    NODE_LINK (NML_FORMAT_PTR, char *name, char *file, NODE * node,
               NODE_LINK_TYPE link_type = NODE_WM_AND_SUBORDINATE);
   ~NODE_LINK ();
  void new_command (RCS_CMD_MSG * new_cmd_msg); /* lets user store cmd_msg. */
  void new_command (RCS_GENERIC_CMD_ID);
  NMLTYPE status_type;          /* NML type id of last status message recvd. */
  RCS_STAT_MSG *status_msg;     /* pointer to last status message recvd. */
  int status_new;               /* Was a new status message read this cycle? */
  NMLTYPE prev_status_type;     /* Status type of last new status message  */
  NMLTYPE wm_type;              /* NML type id of last status message recvd. */
  RCS_WM_MSG *wm_msg;           /* pointer to last wm message recvd. */
  int new_wm;                   /* Was a new wm message read this cycle? */
  NODE_STATUS_TYPE node_status; /* set by get_status() */
  char *name;                   /* string used to derive names of buffers */
  NODE *parent_node;

  int sub_list_id;              /* needed for access via RCS_LINKED_LIST */
  int wm_list_id;               /* needed for access via RCS_LINKED_LIST */

  /* Operations */
  int send_command ();          /* send command if(new_cmd) */
  int get_status ();            /* read status buffer and set node_status */
  int read_wm ();               /* read wm buffer */
};


#endif

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