machine.h

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#pragma once
 
#include <functional>
#include <list>
#include <queue>
 
#include "core/containers/thread_safe_queue.h"
#include "incoming_machine_message.h"
#include "outgoing_machine_message.h"
 
class VirtualDeviceManager;
class Notifier;
class CommandWorker;
namespace ctpl {
class thread_pool;
}
 
class Machine {
 public:
  void add_message(IncomingMachineMessage& incoming_machine_message);

  virtual void execute(uint64_t pending_signals) = 0;

  virtual void abort_client_requests(const std::string& connection_id) = 0;

  bool command_workers_done();

  virtual bool done() = 0;
 
 protected:
  Machine(VirtualDeviceManager& vdm, ctpl::thread_pool& thread_pool,
          Notifier& notifier,
          mm::core::containers::ThreadSafeQueue<OutgoingMachineMessage>&
              outgoing_machine_message_queue);
 
  virtual ~Machine();
 
  VirtualDeviceManager& vdm_;
  ctpl::thread_pool& thread_pool_;
  std::queue<IncomingMachineMessage> incoming_message_queue_;
  Notifier& notifier_;

  void start_command_worker(IncomingMachineMessage& incoming_machine_message);

  void process_command_workers(
      std::function<void(CommandWorker*)> process = nullptr);

  void send_response(MachineMessage::Protocol protocol,
                     std::string connection_id,
                     motionmaster::MotionMasterMessage& message);
 
 private:
  mm::core::containers::ThreadSafeQueue<OutgoingMachineMessage>&
      outgoing_machine_message_queue_;
  std::list<CommandWorker*> command_workers_;
};