ActionManager.hpp

/*
 * Copyright 2021 Marcus Behel
 *
 * This file is part of ArPiRobot-CoreLib.
 * 
 * ArPiRobot-CoreLib is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 * 
 * ArPiRobot-CoreLib is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public License
 * along with ArPiRobot-CoreLib.  If not, see <https://www.gnu.org/licenses/>. 
 */
 
#pragma once
 
#include <arpirobot/core/action/Action.hpp>
#include <arpirobot/core/action/BaseActionTrigger.hpp>
 
#include <vector>
#include <mutex>
 
namespace arpirobot{
 
    class ActionSeries;
 
    class ActionManager{
    public:
 
        static bool startAction(Action &action, bool doRestart = true);
 
        static bool startAction(std::shared_ptr<Action> action, bool doRestart = true);
 
        static bool stopAction(Action &action);
 
        static bool stopAction(std::shared_ptr<Action> action);
 
        static void addTrigger(BaseActionTrigger &trigger);
 
        static void addTrigger(std::shared_ptr<BaseActionTrigger> trigger);
 
        static void removeTrigger(BaseActionTrigger &trigger);
 
        static void removeTrigger(std::shared_ptr<BaseActionTrigger> trigger);
 
    private:
 
        static bool startActionInternal(std::shared_ptr<Action> action, bool doRestart, ActionSeries *owningActionSeries);
 
        static bool stopActionInternal(std::shared_ptr<Action> action, bool interrupted);
 
        static void checkTriggers();
 
        static std::mutex triggerLock;
 
        static std::vector<std::shared_ptr<BaseActionTrigger>> triggers;
 
        // Keep actions started with ActionManager::startAction(std::make_shared) in scope
        static std::vector<std::shared_ptr<Action>> runningActions;
        static std::mutex runningActionsLock;
 
        friend class BaseRobot;     // BaseRobot needs to call checkTriggers on its scheduler
        friend class Action;        // Action needs to be able to call stopActionInternal
        friend class ActionSeries;  // ActionSeries needs to be able to call startActionInternal
    };
 
}