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:
  void send_slave_warning(uint32_t device_address, int32_t device_id,
                          int32_t code,
                          const std::string& additional_info = "");
 
  void send_slave_error(uint32_t device_address, int32_t device_id,
                        int32_t code, const std::string& additional_info = "");
 
  void send_status(motionmaster::MotionMasterMessage::Status* status,
                   std::string topic = "");
 
  void send_monitoring_status(
      motionmaster::MotionMasterMessage::Status* status);
 
  void send_notification_status(
      motionmaster::MotionMasterMessage::Status* status);
 
  void send_mm_state_waiting_for_slaves();
 
  void send_mm_state_slaves_found();
 
  void send_mm_state_initializing();
 
  void send_mm_state_initialized();
 
  void send_mm_state_deinitializing();
 
  void send_mm_state_deinitialized();
 
  void send_mm_state_terminating();
 
  bool has_notification();
 
  bool get_next_notification(OutgoingMachineMessage& message);
 
 private:
  std::mutex lock_;
  std::queue<OutgoingMachineMessage> notifications_;
};