simple_thread.h

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// Copyright 2022-2023:
//   GobySoft, LLC (2013-)
//   Community contributors (see AUTHORS file)
// File authors:
//   Toby Schneider <toby@gobysoft.org>
//
//
// This file is part of the Goby Underwater Autonomy Project Libraries
// ("The Goby Libraries").
//
// The Goby Libraries are free software: you can redistribute them and/or modify
// them under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 2.1 of the License, or
// (at your option) any later version.
//
// The Goby Libraries are distributed in the hope that they will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with Goby.  If not, see <http://www.gnu.org/licenses/>.
 
#ifndef GOBY_MIDDLEWARE_APPLICATION_SIMPLE_THREAD_H
#define GOBY_MIDDLEWARE_APPLICATION_SIMPLE_THREAD_H
 
#include "goby/middleware/application/thread.h"
#include "goby/middleware/coroner/coroner.h"
 
#include "goby/middleware/transport/interprocess.h"
#include "goby/middleware/transport/interthread.h"
#include "goby/middleware/transport/intervehicle.h"
 
namespace goby
{
namespace middleware
{
template <typename Config>
class SimpleThread
    : public Thread<Config, InterVehicleForwarder<InterProcessForwarder<InterThreadTransporter>>>,
      public coroner::Thread<SimpleThread<Config>>
{
    using SimpleThreadBase =
        Thread<Config, InterVehicleForwarder<InterProcessForwarder<InterThreadTransporter>>>;
 
    friend class coroner::Thread<SimpleThread<Config>>;
 
  public:
    SimpleThread(const Config& cfg, double loop_freq_hertz = 0, int index = -1)
        : SimpleThread(cfg, loop_freq_hertz * boost::units::si::hertz, index)
    {
    }
 
    SimpleThread(const Config& cfg, boost::units::quantity<boost::units::si::frequency> loop_freq,
                 int index = -1)
        : SimpleThreadBase(cfg, loop_freq, index)
    {
        interthread_.reset(new InterThreadTransporter);
        interprocess_.reset(new InterProcessForwarder<InterThreadTransporter>(*interthread_));
        intervehicle_.reset(
            new InterVehicleForwarder<InterProcessForwarder<InterThreadTransporter>>(
                *interprocess_));
 
        this->set_transporter(intervehicle_.get());
 
        this->subscribe_coroner();
    }
 
    InterVehicleForwarder<InterProcessForwarder<InterThreadTransporter>>& intervehicle()
    {
        return this->transporter();
    }
 
    InterProcessForwarder<InterThreadTransporter>& interprocess()
    {
        return this->transporter().inner();
    }
 
    InterThreadTransporter& interthread() { return this->transporter().innermost(); }
 
  private:
    std::unique_ptr<InterThreadTransporter> interthread_;
    std::unique_ptr<InterProcessForwarder<InterThreadTransporter>> interprocess_;
    std::unique_ptr<InterVehicleForwarder<InterProcessForwarder<InterThreadTransporter>>>
        intervehicle_;
};
} // namespace middleware
} // namespace goby
 
#endif