InterfaceThreader.hpp

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// MAVLink router and firewall.
// Copyright (C) 2018  Michael R. Shannon <mrshannon.aerospace@gmail.com>
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.


#ifndef INTERFACETHREADER_HPP_
#define INTERFACETHREADER_HPP_


#include <atomic>
#include <memory>
#include <thread>

#include "Interface.hpp"


/** A multithreaded interface runner.
 *
 *  This class runs a given interface.  It does this by calling the \ref
 *  Interface's \ref Interface::send_packet and \ref Interface::receive_packet
 *  methods repeatedly until the runner is shutdown.  This is a threaded runner
 *  and thus it runs these methods in two separate threads which are managed by
 *  the \ref InterfaceThreader class.
 *
 *  %Call the \ref shutdown method to stop running the interface and cleanup the
 *  threads.
 *
 *  \note This is the only place where threading occurs in mavtables.
 */
class InterfaceThreader
{
    public:
        enum Threads
        {
            START,  //!< Start the interface (and worker threads) immediately.
            DELAY_START //!< Delay starting, use \ref start to launch threads.
        };
        InterfaceThreader(
            std::unique_ptr<Interface> interface,
            std::chrono::microseconds = std::chrono::microseconds(100000),
            Threads start_threads = InterfaceThreader::START);
        InterfaceThreader(const InterfaceThreader &other) = delete;
        InterfaceThreader(InterfaceThreader &&other) = delete;
        ~InterfaceThreader();
        void start();
        void shutdown();
        InterfaceThreader &operator=(const InterfaceThreader &other) = delete;
        InterfaceThreader &operator=(InterfaceThreader &&other) = delete;

    private:
        // Variables
        std::unique_ptr<Interface> interface_;
        std::thread tx_thread_;
        std::thread rx_thread_;
        std::chrono::microseconds timeout_;
        std::atomic<bool> running_;
        // Methods
        void tx_runner_();
        void rx_runner_();
};


#endif // INTERFACETHREADER_HPP_