command_worker.h

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#pragma once
 
#include <chrono>
#include <list>
#include <thread>
 
#include "core/containers/thread_safe_queue.h"
#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;

  mm::core::containers::ThreadSafeQueue<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_;
 
  mm::core::containers::ThreadSafeQueue<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);
};