Compliant Control Architecture

#include <iostream>

#include <boost/cstdint.hpp>

#include "cca/processing/all.h"

#include "cca/timing/PeriodicBeat.h"

#include "rsc/logging/LoggerFactory.h"

using namespace std;

using namespace boost;

using namespace cca;

using namespace rsc;

using namespace rsc::logging;

class Ping: public Node {

public:

    Ping(const std::string &cname) :

            Node(cname), ip(), op(), processed(false) {

        ip = InputPort<uint64_t>::create();

        registerPort("in", ip);

        op = OutputPort<uint64_t>::create();

        registerPort("out", op);

    }

    ~Ping() {

    }

    void onProcess() {

        std::cout << "Node '" << this->getName() << "' started processing." << std::endl;

        sleep(1);

        std::cout << "Node '" << this->getName() << "' finished processing." << std::endl;

        OutputPort<uint64_t>::DataPtr foo(new uint64_t(17));

        op->publish(foo);

    }

protected:

    bool processed;

    InputPort<uint64_t>::Ptr ip;

    OutputPort<uint64_t>::Ptr op;

};

int main() {

    LoggerFactory::getInstance().reconfigure(Logger::LEVEL_WARN);

    NodePtr ping = NodePtr(new Ping("Node 1"));

    ping->setProcessingStrategy(Timed::samplerate(1));

    ping->configureInputPort("in", PortConfiguration::LOCAL("/nowhere"));

    ping->configureOutputPort("out", PortConfiguration::LOCAL("/ping"));

    std::cout << ping->print() << std::endl;

    NodePtr ping2 = NodePtr(new Ping("Node 2"));

    ping2->setProcessingStrategy(PortTriggered::port("in"));

    ping2->configureInputPort("in", PortConfiguration::LOCAL("/ping"));

    ping2->configureOutputPort("out", PortConfiguration::LOCAL("/dev/null"));

    std::cout << ping2->print() << std::endl;

    // Tick first node

    std::cout << ">>> Sending tick to 'Node 1'" << std::endl;

    ping->tick(); // Trigger node 1, which itself is syncrhonized with node 2

                  // through port-triggered strategy

    std::cout << ">>> CCA circuit (node 1 and node 2) is done, continue own "

            "processing." << std::endl;

    sleep(1);

    return EXIT_SUCCESS;

}