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