firmware_machine.h

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#pragma once
 
#include <chrono>
#include <future>
 
#include "core/containers/thread_safe_queue.h"
#include "flash.h"
#include "machine.h"
#include "motion_master_error.h"
 
class VirtualDevice;
 
class FirmwareMachine : public Machine {
 public:
  FirmwareMachine(VirtualDeviceManager& vdm, ctpl::thread_pool& thread_pool,
                  Notifier& notifier,
                  mm::core::containers::ThreadSafeQueue<OutgoingMachineMessage>&
                      outgoing_machine_message_queue);
 
  void execute(uint64_t pending_signals) override;
  void abort_client_requests(const std::string& connection_id) override;
  bool done() override;
 
 private:
  class Request {
   public:
    Request(VirtualDeviceManager& vdm,
            IncomingMachineMessage& incoming_machine_message);
 
    IncomingMachineMessage incoming_machine_message_;
 
    VirtualDevice* virtual_device_ = nullptr;
 
    std::unique_ptr<Flash> flash_;
    std::future<MotionMasterError> future_;
  };
 
  std::vector<Request> requests_;
 
  void send_status(
      const IncomingMachineMessage& incoming_machine_message,
      motionmaster::MotionMasterMessage::MotionMasterMessage::Status* status);
};