notifier.h

Go to the documentation of this file.

#pragma once
 
#include <cstdint>
#include <mutex>
#include <queue>
#include <zmq.hpp>
 
#include "outgoing_machine_message.h"
 
class Notifier {
 public:
  virtual ~Notifier() = default;
 
  virtual void send_slave_warning(uint32_t device_address, int32_t device_id,
                                  int32_t code,
                                  const std::string& additional_info = "") = 0;
  virtual void send_slave_error(uint32_t device_address, int32_t device_id,
                                int32_t code,
                                const std::string& additional_info = "") = 0;
  virtual void send_status(motionmaster::MotionMasterMessage::Status* status,
                           std::string topic = "") = 0;
  virtual void send_monitoring_status(
      motionmaster::MotionMasterMessage::Status* status) = 0;
  virtual void send_notification_status(
      motionmaster::MotionMasterMessage::Status* status) = 0;
 
  virtual void send_mm_state_waiting_for_slaves() = 0;
  virtual void send_mm_state_slaves_found() = 0;
  virtual void send_mm_state_initializing() = 0;
  virtual void send_mm_state_initialized() = 0;
  virtual void send_mm_state_deinitializing() = 0;
  virtual void send_mm_state_deinitialized() = 0;
  virtual void send_mm_state_terminating() = 0;
 
  virtual bool has_notification() = 0;
 
  virtual bool get_next_notification(OutgoingMachineMessage& message) = 0;
};
 
class NotifierImpl : public Notifier {
 public:
  NotifierImpl() = default;
  ~NotifierImpl() override = default;
 
  void send_slave_warning(uint32_t device_address, int32_t device_id,
                          int32_t code,
                          const std::string& additional_info) override;
  void send_slave_error(uint32_t device_address, int32_t device_id,
                        int32_t code,
                        const std::string& additional_info) override;
  void send_status(motionmaster::MotionMasterMessage::Status* status,
                   std::string topic) override;
  void send_monitoring_status(
      motionmaster::MotionMasterMessage::Status* status) override;
  void send_notification_status(
      motionmaster::MotionMasterMessage::Status* status) override;
 
  void send_mm_state_waiting_for_slaves() override;
  void send_mm_state_slaves_found() override;
  void send_mm_state_initializing() override;
  void send_mm_state_initialized() override;
  void send_mm_state_deinitializing() override;
  void send_mm_state_deinitialized() override;
  void send_mm_state_terminating() override;
 
  bool has_notification() override;
 
  bool get_next_notification(OutgoingMachineMessage& message) override;
 
 private:
  std::mutex lock_;
  std::queue<OutgoingMachineMessage> notifications_;
};