TransitionBlock.hpp

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#ifndef ORG_EEROS_CONTROL_TRANSITIONBLOCK_HPP_
#define ORG_EEROS_CONTROL_TRANSITIONBLOCK_HPP_

#include <string>
#include <eeros/core/Runnable.hpp>

namespace eeros {
    namespace control {
        
        template < typename TObject >
        class TransitionAction : public Runnable {
        public:
            using TMethod = void (TObject::*)();
            
            TransitionAction(TObject *object, TMethod method) :
                object(object), method(method) { }

            virtual void run() { (object->*method)(); }
        private:
            TObject *object;
            TMethod method;
        };
        
        class TransitionBlock {
        public:
            TransitionBlock();
            
            virtual void setName(std::string name);
            virtual std::string getName();
            
            virtual Runnable* getRunnableA();
            virtual Runnable* getRunnableB();
            
            virtual void runA() = 0;
            virtual void runB() = 0;
            
        private:
            std::string name;
            TransitionAction<TransitionBlock> runnableA;
            TransitionAction<TransitionBlock> runnableB;
        };

    };
};

#endif /* ORG_EEROS_CONTROL_TRANSITIONBLOCK_HPP_ */