machine.h

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#pragma once
 
#include <readerwriterqueue/readerwriterqueue.h>
 
#include <functional>
#include <list>
#include <queue>
#include <zmq.hpp>
 
#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,
          moodycamel::ReaderWriterQueue<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:
  moodycamel::ReaderWriterQueue<OutgoingMachineMessage>
      &outgoing_machine_message_queue_;
  std::list<CommandWorker *> command_workers_;
};