slave_controller.hpp

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#ifndef CORAL_BUS_SLAVE_CONTROLLER_HPP
#define CORAL_BUS_SLAVE_CONTROLLER_HPP

#include <chrono>
#include <functional>
#include <memory>
#include <system_error>
#include <vector>

#include "coral/config.h"
#include "coral/bus/slave_control_messenger.hpp"
#include "coral/bus/slave_setup.hpp"
#include "coral/net/reactor.hpp"
#include "coral/model.hpp"
#include "coral/net.hpp"


namespace coral
{
namespace bus
{


class SlaveController
{
public:
    typedef std::function<void(const std::error_code&)> VoidHandler;


    typedef VoidHandler ConnectHandler;

    SlaveController(
        coral::net::Reactor& reactor,
        const coral::net::SlaveLocator& slaveLocator,
        coral::model::SlaveID slaveID,
        const std::string& slaveName,
        const SlaveSetup& setup,
        std::chrono::milliseconds timeout,
        ConnectHandler onComplete,
        int maxConnectionAttempts = 3);

    ~SlaveController();

    void Close();

    SlaveState State() const CORAL_NOEXCEPT;

    typedef std::function<void(const std::error_code&, const coral::model::SlaveDescription&)>
        GetDescriptionHandler;

    void GetDescription(
        std::chrono::milliseconds timeout,
        GetDescriptionHandler onComplete);

    typedef VoidHandler SetVariablesHandler;

    void SetVariables(
        const std::vector<coral::model::VariableSetting>& settings,
        std::chrono::milliseconds timeout,
        SetVariablesHandler onComplete);

    typedef VoidHandler SetPeersHandler;

    void SetPeers(
        const std::vector<coral::net::Endpoint>& peers,
        std::chrono::milliseconds timeout,
        SetPeersHandler onComplete);

    typedef VoidHandler ResendVarsHandler;

    void ResendVars(
        std::chrono::milliseconds timeout,
        ResendVarsHandler onComplete);

    typedef VoidHandler StepHandler;

    void Step(
        coral::model::StepID stepID,
        coral::model::TimePoint currentT,
        coral::model::TimeDuration deltaT,
        std::chrono::milliseconds timeout,
        StepHandler onComplete);

    typedef VoidHandler AcceptStepHandler;

    void AcceptStep(
        std::chrono::milliseconds timeout,
        AcceptStepHandler onComplete);

    void Terminate();

private:
    // Make this class non-movable, since we leak pointers to 'this' in lambda
    // functions passed to SlaveControlMessenger.
    SlaveController(SlaveController&&);
    SlaveController& operator=(SlaveController&&);

    // A handle for the pending connection.
    PendingSlaveControlConnection m_pendingConnection;

    // The object through which we communicate with the slave.
    std::unique_ptr<coral::bus::ISlaveControlMessenger> m_messenger;
};


}} // namespace
#endif // header guard