command_worker.h

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#pragma once
 
#include <readerwriterqueue/readerwriterqueue.h>
 
#include <chrono>
#include <list>
#include <thread>
#include <zmq.hpp>
 
#include "incoming_machine_message.h"
#include "motion_master_error.h"
 
class Notifier;
class VirtualDevice;
class VirtualDeviceManager;
 
class CommandWorker {
 public:
  CommandWorker(VirtualDeviceManager &vdm, Notifier &notifier,
                IncomingMachineMessage &incoming_machine_message);
 
  void run();
 
  MachineMessage::Protocol get_protocol() const;
 
  const std::string &get_connection_id() const;
 
  moodycamel::ReaderWriterQueue<motionmaster::MotionMasterMessage> &
  get_status_queue();
 
  bool is_done();
 
  MotionMasterError get_error();
 
  void abort_motion_operations();
 
 private:
  VirtualDeviceManager &vdm_;
  Notifier &notifier_;
 
  IncomingMachineMessage incoming_machine_message_;
  const motionmaster::MotionMasterMessage::Request &request_;
 
  moodycamel::ReaderWriterQueue<motionmaster::MotionMasterMessage>
      outgoing_message_queue_;
  MotionMasterError error_;
  // Set in the constructor depending on the request type
  bool device_address_must_be_supplied_ = true;
  uint32_t device_address_;
  VirtualDevice *virtual_device_ = nullptr;
  bool done_ = false;
 
  void populate_device_parameter_values_message(
      const motionmaster::MotionMasterMessage::Request::GetDeviceParameterValues
          &get_device_parameter_values_request,
      VirtualDevice *virtual_device,
      motionmaster::MotionMasterMessage::Status::DeviceParameterValues
          *parameter_values_msg);
 
  static void set_device_parameter_values(
      const motionmaster::MotionMasterMessage::Request::SetDeviceParameterValues
          &set_device_parameter_values_request,
      VirtualDevice *virtual_device,
      motionmaster::MotionMasterMessage::Status::DeviceParameterValues
          *parameter_values_msg);
 
  static MotionMasterError sii_restore(const std::vector<uint8_t> &sii_content,
                                       int32_t device_position);
 
  void notify_if_hardware_description_missing();
 
  void send_status(motionmaster::MotionMasterMessage::Status *status);
};