procThread.hpp

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#ifndef CCF_CONTROL_PROC_THREAD_HPP_H_
#define CCF_CONTROL_PROC_THREAD_HPP_H_
 
#include <ifw/ccf/common/base.hpp>
#include <ifw/ccf/common/utilities.hpp>
#include <ifw/ccf/common/frameQueue.hpp>
#include <ifw/ccf/common/recipeBase.hpp>
 
namespace ifw::ccf::control {
 
  class ProcThread: public ifw::ccf::mptk::Thread, public ifw::ccf::Base {
  public:
 
    static void SetStatusAll(const ifw::ccf::ProcStatus status);
 
    ProcThread(const std::string& thread_name,
               ifw::ccf::mptk::MessageBus& message_bus,
               const double period = 0.1);
 
    virtual ~ProcThread();
 
    void Initialise();
 
    virtual void UserLogic();
 
    void SetInputQ(std::shared_ptr<ifw::ccf::common::FrameQueue>& queue);
 
    ifw::ccf::common::FrameQueue& GetInputQ();
 
    void SetOutputQ(std::shared_ptr<ifw::ccf::common::FrameQueue>& queue);
 
    ifw::ccf::common::FrameQueue& GetOutputQ();
 
    void SetStatus(const ifw::ccf::ProcStatus status);
 
    ifw::ccf::ProcStatus GetStatus() const;
 
    // TODO: Remove these. Use the repository in ifw::ccf::common::RecipeBase.
    void AddRecipe(std::shared_ptr<ifw::ccf::common::RecipeBase>& recipe_obj);
    uint8_t NbOfRecipes() const;
    const ifw::ccf::common::RecipeBase& GetRecipe(const uint16_t nb);
 
    ifw::ccf::common::FrameStatistics& GetFrameStat();
 
    bool GetPipelineEnabled() const;
 
  protected:
 
  private:
    bool CheckMessageBus(bool& new_data_available,
                         bool& new_setup);
    void CopyAndReleaseFrameHandle();
    void ExecuteRecipes();
    void SubmitAndNotify();
    void HandleNewSetup();
 
    bool     m_allow_frame_skippping;
    double   m_time_for_last_frame_skipping_log;
 
    // Names of Publisher Threads associated with this Processing Thread.
    std::vector<std::string> m_pub_thr_names;
 
    ifw::ccf::ProcStatus m_proc_thread_status;  // Used to avoid updating OLDB/PubSub unnecessarily.
 
    std::list<std::shared_ptr<ifw::ccf::common::RecipeBase>> m_recipes;
 
    // Map to find Recipe objects easily by means of the Instance ID.
    std::map<std::string, std::shared_ptr<ifw::ccf::common::RecipeBase>> m_recipe_map;
 
    // Note: The queues are allocated and deleted by the ifw::ccf::control::application class.
    std::shared_ptr<ifw::ccf::common::FrameQueue>      m_input_q;
    std::shared_ptr<ifw::ccf::common::FrameQueue>      m_output_q;
 
    ifw::ccf::mptk::Message            m_cur_msg;   // Current thread message being handled.
    ifw::ccf::common::DataFrame        m_cur_frame; // Current data frame being handled.
 
    ifw::ccf::common::FrameStatistics  m_frame_stat;
 
    bool                          m_pipeline_enabled;
  };
 
}
 
#endif // CCF_CONTROL_PROC_THREAD_HPP_H_