Worker.hpp

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#pragma once

#include <atomic>
#include <functional>
#include <string>
#include <thread>

#include "bota_worker/Rate.hpp"
#include "bota_worker/WorkerEvent.hpp"
#include "bota_worker/WorkerOptions.hpp"

namespace bota_worker
{
class Worker
{
public:
  Worker() = delete;

  Worker(const std::string& name, const double timestep, const WorkerCallback& callback);
  Worker(const std::string& name, const double timestep, const WorkerCallback& callback,
         const WorkerCallbackFailureReaction& callbackFailureReaction);
  explicit Worker(const WorkerOptions& options);
  Worker(const Worker&) = delete;       // atomics and threads are non-copyable
  Worker(Worker&& /*other*/) noexcept;  // declare custom move constructor to move atomics

  virtual ~Worker();

  bool start(const int priority = 0);
  void stop(const bool wait = true);

  void setTimestep(const double timeStep);
  void setEnforceRate(const bool enforceRate);

  const std::string& getName() const
  {
    return options_.name_;
  }
  const Rate& getRate() const
  {
    return rate_;
  }
  Rate& getRate()
  {
    return rate_;
  }

  bool isRunning() const
  {
    return running_;
  }

  bool isDestructible() const
  {
    return done_.load() && options_.destructWhenDone_;
  }

private:
  void run();

private:
  WorkerOptions options_;

  std::atomic<bool> running_;
  std::atomic<bool> done_;

  std::thread thread_;
  Rate rate_;
};

}  // namespace bota_worker