TimeDomain.hpp

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#ifndef ORG_EEROS_CONTROLTIMEDOMAIN_HPP
#define ORG_EEROS_CONTROLTIMEDOMAIN_HPP

#include <list>
#include <string>
#include <eeros/core/Runnable.hpp>
#include <eeros/control/NotConnectedFault.hpp>
#include <eeros/control/NaNOutputFault.hpp>
#include <eeros/safety/SafetySystem.hpp>
#include <eeros/safety/SafetyLevel.hpp>

namespace eeros {
    namespace control {

        using namespace safety;

        class TimeDomain : public virtual Runnable {
        public:
            TimeDomain(std::string name, double period, bool realtime);
            virtual void addBlock(Runnable* block);
            virtual void addBlock(Runnable& block);
            virtual void removeBlock(Runnable* block);
            virtual void removeBlock(Runnable& block);
            
            std::string getName();
            double getPeriod();
            bool getRealtime();
            void registerSafetyEvent(SafetySystem& ss, SafetyEvent& e);

            virtual void run();
            virtual void start();
            virtual void stop();

            friend std::ostream& operator<<(std::ostream& os, TimeDomain& td);
            
        private:
            std::string name;
            double period;
            bool realtime;
            bool running = true;
            std::list<Runnable*> blocks;
            SafetySystem* safetySystem;
            SafetyEvent* safetyEvent;
        };
    };
};

#endif // ORG_EEROS_CONTROLTIMEDOMAIN_HPP