persistent_worker.hpp

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#ifndef PERSISTENT_WORKER_HPP
#define PERSISTENT_WORKER_HPP
 
#include <condition_variable>
#include <functional>
#include <mutex>
#include <stack>
#include <string>
#include <thread>
#include <unordered_map>
 
#define PAUSE_BT_TASK 0 // ms
 
class PersistentWorker
{
private:
    std::mutex                                             _mtx;
    std::condition_variable                                _cv;
    std::unordered_map<std::string, std::function<void()>> _tasks;
    bool                                                   _running = true;
    std::thread                                            _thread;
 
    void loop();
 
public:
    PersistentWorker();
    ~PersistentWorker();
 
    void addTask(const std::string& name, const std::function<void()>& jobToExecute);
 
    void removeTask(const std::string& name);
};
#endif