FilteringAlgorithm.h

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/*
 * Copyright (C) 2016-2019 Istituto Italiano di Tecnologia (IIT)
 *
 * This software may be modified and distributed under the terms of the
 * BSD 3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef FILTERINGALGORITHM_H
#define FILTERINGALGORITHM_H
 
#include <BayesFilters/Filter.h>
#include <BayesFilters/Logger.h>
#include <BayesFilters/Skipper.h>
 
#include <condition_variable>
#include <mutex>
#include <string>
#include <thread>
#include <unordered_map>
 
namespace bfl {
    class FilteringAlgorithm;
}
 
 
class bfl::FilteringAlgorithm : public Filter, public Skipper, public Logger
{
public:
    virtual ~FilteringAlgorithm() noexcept = default;
 
    bool boot() override;
 
    void run() override;
 
    bool wait() override;
 
    void reset() override;
 
    void reboot() override;
 
    bool teardown() override;
 
    unsigned int step_number() override;
 
    bool is_running() override;
 
 
protected:
    FilteringAlgorithm() = default;
 
    FilteringAlgorithm(const FilteringAlgorithm& filter) noexcept = delete;
 
    FilteringAlgorithm& operator=(const FilteringAlgorithm& filter) noexcept = delete;
 
    FilteringAlgorithm(FilteringAlgorithm&& filter) noexcept = delete;
 
    FilteringAlgorithm& operator=(FilteringAlgorithm&& filter) noexcept = delete;
 
    virtual bool initialization_step() = 0;
 
    virtual void filtering_step() = 0;
 
    virtual bool run_condition() = 0;
 
 
private:
    void filtering_recursion();
 
    unsigned int filtering_step_ = 0;
 
    std::thread filtering_thread_;
 
    std::mutex mtx_run_;
 
    std::condition_variable cv_run_;
 
    bool run_ = false;
 
    bool reset_ = false;
 
    bool teardown_ = false;
};
 
#endif /* FILTERINGALGORITHM_H */