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_;

      knowledge::containers::Integer started_;

      knowledge::containers::Double new_hertz_;

      double hertz_ = -1;
    };

    typedef std::map <std::string, std::unique_ptr<WorkerThread>>  NamedWorkerThreads;
  }
}

#include "WorkerThread.inl"

#endif // _MADARA_THREADS_WORKER_THREAD_H_