Action.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/device/BaseDevice.hpp>
#include <arpirobot/core/scheduler.hpp>
 
#include <vector>
#include <mutex>
#include <memory>
#include <functional>
 
namespace arpirobot{
 
 
    typedef std::vector<std::reference_wrapper<BaseDevice>> LockedDeviceList;
 
 
    class Action{
    public:
 
        Action(int32_t processRateMs = -1);
 
        virtual ~Action();
 
        bool isRunning();
 
        int32_t getProcessPeriodMs();
 
        void setProcessPeriodMs(int32_t processPeriodMs);
 
    protected:
 
        /*
         * Returns a list of devices this action should lock
         */
        virtual LockedDeviceList lockedDevices();
 
        virtual void begin() = 0;
 
        virtual void process() = 0;
 
        virtual void finish(bool wasInterrupted) = 0;
 
        virtual bool shouldContinue() = 0;
 
    private:
 
        static bool predDevice(std::reference_wrapper<BaseDevice> a, std::reference_wrapper<BaseDevice> b);
 
        static bool compDevice(std::reference_wrapper<BaseDevice> a, std::reference_wrapper<BaseDevice> b);
 
        static void makeDeviceListUnique(std::vector<std::reference_wrapper<BaseDevice>> &list);
 
        void actionStart(bool skipLock);
 
        void actionStop(bool interrupted);
 
        void actionProcess();
 
        bool isStarted();
    
        bool isFinished();
 
        std::shared_ptr<Task> _schedulerTask = nullptr;
        int32_t processRateMs = -1;
 
        std::vector<std::reference_wrapper<BaseDevice>> currentlyLocked;
 
        std::mutex stateLock;
        bool started = false;
        bool finished = false;
 
        friend class ActionManager;
        friend class ActionSeries;
    };
 
}