ps_persistence.h

/*
 * Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
 * All rights reserved. Copyright (c) 2018 VECTIONEER.
 */
 
#ifndef MOTORCORTEX_CORE_PS_PERSISTENCE_H
#define MOTORCORTEX_CORE_PS_PERSISTENCE_H
 
#include "ct_module.h"
 
#include <vector>
#include <string>
 
namespace mcx {
 
namespace parameter_server {
 
class Persistence : public container::Module {
public:
 
  struct PersistenceData {
    parameter_server::Parameter* param_ptr{};
    void* storage_ptr{};
    size_t param_size{};
    struct timespec* time_ptr{};
  };
 
  Persistence(const std::string& path);
 
  ~Persistence() override;
 
protected:
 
  void create_(const char* name, parameter_server::Parameter* parameter_server, uint64_t dt_micro_s) override;
 
  bool initPhase1_() override;
 
  bool initPhase2_() override;
 
  bool startOp_() override;
 
  bool stopOp_() override;
 
  bool iterateOp_(const container::TaskTime& system_time, container::UserTime* user_time) override;
 
private:
 
  std::vector<PersistenceData> param_list_;
  uint8_t* persistence_buffer_{};
  std::string path_;
  size_t total_size_{};
 
};
 
}  // namespace parameter_server
 
}  // namespace mcx
 
#endif //MOTORCORTEX_CORE_PS_PERSISTENCE_H