Sequence.hpp

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#ifndef ORG_EEROS_SEQUENCER_SEQUENCE_HPP_
#define ORG_EEROS_SEQUENCER_SEQUENCE_HPP_

#include <eeros/sequencer/BaseSequence.hpp>
#include <condition_variable>
#include <thread>

namespace eeros {
    namespace sequencer {
        
        class Sequencer;
        
        class Sequence : public BaseSequence {
            friend class Sequencer;
        public:
            Sequence(std::string name, Sequencer& seq); // only for mainSequence
            Sequence(std::string name, Sequencer& seq, BaseSequence* caller, bool blocking);
            virtual ~Sequence();
            
            virtual int operator() () {return start();} // this operator can be overloaded in the derived sequence
            virtual int action() = 0;       // this function has to be implemented in the derived sequence
            int start();
            void wait();
            void waitAndTerminate();
            
        private:
            bool running = true, go = false, done = true;
            std::thread* t;
            void run();
        };
    };  //namespace sequencer
}; // namespace eeros

#endif // ORG_EEROS_SEQUENCER_SEQUENCE_HPP_