WorkerThread.h

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#ifndef _MADARA_THREADS_WORKER_THREAD_H_
#define _MADARA_THREADS_WORKER_THREAD_H_

#include <string>
#include <map>

#include "madara/knowledge/KnowledgeBase.h"
#include "BaseThread.h"
#include "madara/knowledge/containers/Double.h"

#include "ace/Task.h"
 
namespace madara
{
  namespace threads
  {
    class Threader;

    class WorkerThread : public ACE_Task<ACE_NULL_SYNCH>
    {
    public:
      friend class Threader;

      WorkerThread ();
      
      WorkerThread (
        const std::string & name,
        BaseThread * thread,
        knowledge::KnowledgeBase * control,
        knowledge::KnowledgeBase * data,
        double hertz = -1.0);
      
      WorkerThread (const WorkerThread & input) = delete;

      ~WorkerThread ();
      
      void operator= (const WorkerThread & input);

      int svc (void);
      
      void run (void);
      
    protected:

      void change_frequency (double hertz,
        ACE_Time_Value & current, ACE_Time_Value & frequency,
        ACE_Time_Value & next_epoch,
        bool & one_shot, bool & blaster);

      std::string name_;

      BaseThread * thread_;

      knowledge::KnowledgeBase * control_;

      knowledge::KnowledgeBase * data_;

      knowledge::containers::Integer finished_;
      
      knowledge::containers::Integer started_;

      knowledge::containers::Double new_hertz_;
      
      double hertz_;
    };

    typedef std::map <std::string, WorkerThread *>  NamedWorkerThreads;
  }
}

#include "WorkerThread.inl"

#endif // _MADARA_THREADS_WORKER_THREAD_H_