Threader.h

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#ifndef _MADARA_THREADS_THREADER_H_
#define _MADARA_THREADS_THREADER_H_
 
#include <string>
#include <vector>
#include <map>
#include <list>
#include "madara/knowledge/KnowledgeBase.h"
#include "BaseThread.h"
#include "WorkerThread.h"
#include "madara/MadaraExport.h"
 
#ifdef _MADARA_JAVA_
#include <jni.h>
#include "madara_jni.h"
#endif
 
namespace madara
{
namespace threads
{
class MADARA_EXPORT Threader
{
public:
  Threader();
 
  Threader(knowledge::KnowledgeBase& data_plane);
 
  ~Threader();
 
  Threader(const Threader&) = delete;
  Threader(Threader&&) = default;
  Threader& operator=(const Threader&) = delete;
  Threader& operator=(Threader&&) = default;
 
  void change_hertz(const std::string& name, double hertz);
 
  knowledge::KnowledgeBase get_control_plane(void);
 
  knowledge::KnowledgeBase get_data_plane(void);
 
  void pause(const std::string& name);
 
  void pause(void);
 
  void resume(const std::string& name);
 
  void resume(void);
 
  void run(const std::string& name, BaseThread* thread, bool paused = false);
 
  void run(double hertz, const std::string& name, BaseThread* thread,
      bool paused = false);
 
#ifdef _MADARA_JAVA_
 
  void run(const std::string& name, jobject thread, bool paused = false);
 
  void run(double hertz, const std::string& name, jobject thread,
      bool paused = false);
 
#endif
 
  void set_data_plane(knowledge::KnowledgeBase& data_plane);
 
  void terminate(const std::string& name);
 
  void debug_to_kb(const std::string& prefix = ".threader");
 
  void disable_debug(const std::string& name);
 
  void disable_debug(void);
 
  void enable_debug(const std::string& name);
 
  void enable_debug(void);
 
  void terminate(void);
 
  bool wait(const std::string& name,
      const knowledge::WaitSettings& ws = knowledge::WaitSettings());
 
  bool wait(const knowledge::WaitSettings& ws = knowledge::WaitSettings());
  
  bool wait_for_paused(const std::string& name,
      const knowledge::WaitSettings& ws = knowledge::WaitSettings());
 
  bool wait_for_paused(const knowledge::WaitSettings& ws = knowledge::WaitSettings());
 
private:
  knowledge::KnowledgeBase data_;
 
  knowledge::KnowledgeBase control_;
 
  NamedWorkerThreads threads_;
 
  bool debug_ = false;
 
  std::string debug_to_kb_prefix_;
};
}
}
 
#include "Threader.inl"
 
#endif  // _MADARA_THREADS_THREADER_H_