machine_manager.h

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#pragma once
 
#include <readerwriterqueue/readerwriterqueue.h>
 
#include <chrono>
#include <fstream>
 
#include "ctpl_stl.h"
#include "device_procedure_machine.h"
#include "encoder_calibration_machine.h"
#include "firmware_machine.h"
#include "full_auto_tuning_machine.h"
#include "incoming_machine_message.h"
#include "loguru.h"
#include "monitor_machine.h"
#include "motion_control_machine.h"
#include "notifier.h"
#include "outgoing_machine_message.h"
#include "signal_generator_machine.h"
#include "system_machine.h"
#include "universal_machine.h"
#include "virtual_device_manager.h"
#include "watchdog_machine.h"
 
class Machine;
 
class MachineManager {
 public:
  MachineManager(moodycamel::ReaderWriterQueue<IncomingMachineMessage>
                     &incoming_machine_message_queue,
                 moodycamel::ReaderWriterQueue<OutgoingMachineMessage>
                     &outgoing_machine_message_queue);
  ~MachineManager();
 
  void start();
 
  void stop();
 
  void wait();
 
 private:
  VirtualDeviceManager vdm_;
  ctpl::thread_pool thread_pool_;
 
  std::unique_ptr<std::thread> machine_manager_thread_;
  std::atomic_bool running_;
  bool firmware_installation_running_ = false;
  uint32_t firmwareInstallationDeviceId = 0;
 
  Notifier notifier_;
  moodycamel::ReaderWriterQueue<IncomingMachineMessage>
      &incoming_machine_message_queue_;
  moodycamel::ReaderWriterQueue<OutgoingMachineMessage>
      &outgoing_machine_message_queue_;
 
  struct AdditionalHeartbeatInfo {
    MachineMessage::Protocol
        protocol;             // used communication protocol for this client
    int32_t timeout_in_50ms;  // requested timeout in 50ms increments
    int32_t missed_50ms_intervals;
  };
  std::map<std::string /* client ID */, AdditionalHeartbeatInfo>
      missed_heartbeats_map_;
 
  std::vector<Machine *> machines_;
  SystemMachine system_machine_;
  MonitorMachine monitor_machine_;
  MotionControlMachine motion_control_machine_;
  SignalGeneratorMachine signal_generator_machine_;
  FirmwareMachine firmware_machine_;
  EncoderCalibrationMachine encoder_calibration_machine_;
  DeviceProcedureMachine device_procedure_machine_;
  UniversalMachine universal_machine_;
  WatchdogMachine watchdog_machine_;
  FullAutoTuningMachine full_auto_tuning_machine_;
 
  void run();
 
  bool check_machines_done(bool exclude_monitor_machine = false);
 
  void execute_all_machines(uint64_t pending_signals);
};