Sequencer.hpp

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#ifndef ORG_EEROS_SEQUENCER_SEQUENCER_HPP_
#define ORG_EEROS_SEQUENCER_SEQUENCER_HPP_

#include <string>
#include <atomic>
#include <vector>
#include <mutex>
#include <condition_variable>
#include <eeros/core/Thread.hpp>

namespace eeros {
    namespace sequencer {
        
        namespace state {
            enum type { executing, waiting, terminating, terminated, idle };
        }
        
        namespace mode {
            enum type { automatic, stepping };
        }
        
        // Forward declarations
        template < typename Treturn, typename ... Targs >
        class Sequence;
        
        class Sequencer : public Thread {
        public:
            
            Sequencer();
            
            virtual bool start();
            virtual bool start(Sequence<void>* sequence);
            virtual bool start(unsigned int cmdSequenceIndex);
            virtual void shutdown();
            
            virtual void stepMode(bool on = true);
            virtual void toggleMode();
            
            virtual std::string getName() const;
            virtual state::type getState() const;
            virtual mode::type getMode() const;
        
            virtual void yield();
            virtual void proceed();
            virtual void abort();
            
            virtual void addCmdSequence(Sequence<void>* seq);
            virtual const std::vector<Sequence<void>*>& getListOfCmdSequences();
            
        protected:
            virtual void run();
            
        private:
            std::vector<Sequence<void>*> cmdSequences;
            std::atomic<Sequence<void>*> currentSequence;
            unsigned int id;
            std::atomic<state::type> state;
            std::atomic<mode::type> mode;
            std::atomic<bool> abortSequence;
            std::mutex mtx;
            std::condition_variable cv;
            bool go;
            
            static int instanceCounter;
            
        }; // class Sequencer
    }; // namespace sequencer
}; // namespace eeros

#endif // ORG_EEROS_SEQUENCER_SEQUENCE_HPP_