WorkerThread.h

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#ifndef _MADARA_THREADS_WORKER_THREAD_H_
#define _MADARA_THREADS_WORKER_THREAD_H_
 
#include <string>
#include <map>
 
#include "madara/knowledge/KnowledgeBase.h"
#include "BaseThread.h"
#include "madara/knowledge/containers/Double.h"
#include "madara/utility/Utility.h"
 
#include <thread>
 
namespace madara
{
namespace threads
{
class Threader;
 
class WorkerThread
{
public:
  friend class Threader;
 
  WorkerThread() {}
 
  WorkerThread(const std::string& name, BaseThread* thread,
      knowledge::KnowledgeBase* control, knowledge::KnowledgeBase* data,
      double hertz = -1.0)
    : WorkerThread(name, thread, *control, *data, hertz)
  {
  }
 
  WorkerThread(const std::string& name, BaseThread* thread,
      knowledge::KnowledgeBase control, knowledge::KnowledgeBase data,
      double hertz = -1.0);
 
  WorkerThread(WorkerThread&& other) = default;
  ~WorkerThread() noexcept;
 
  // void operator= (const WorkerThread & input);
 
protected:
  std::thread me_;
 
  int svc(void);
 
  void run(void);
 
  void change_frequency(double hertz, utility::TimeValue& current,
      utility::Duration& frequency, utility::TimeValue& next_epoch,
      bool& one_shot, bool& blaster);
 
  std::string name_;
 
  std::unique_ptr<BaseThread> thread_ = nullptr;
 
  knowledge::KnowledgeBase control_;
 
  knowledge::KnowledgeBase data_;
 
  knowledge::containers::Integer finished_;
  
  madara::knowledge::containers::Integer paused_;
  
  madara::knowledge::containers::Integer running_;
 
  knowledge::containers::Integer started_;
 
  knowledge::containers::Double new_hertz_;
 
  knowledge::containers::Integer executions_;
 
  knowledge::containers::Integer start_time_;
 
  knowledge::containers::Integer last_start_time_;
 
  knowledge::containers::Integer end_time_;
 
  knowledge::containers::Integer last_duration_;
 
  knowledge::containers::Integer min_duration_;
 
  knowledge::containers::Integer max_duration_;
 
  knowledge::containers::Integer debug_;
 
  double hertz_ = -1;
};
 
typedef std::map<std::string, std::unique_ptr<WorkerThread>> NamedWorkerThreads;
}
}
 
#include "WorkerThread.inl"
 
#endif  // _MADARA_THREADS_WORKER_THREAD_H_