BaseDevice.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 <string>
#include <mutex>
#include <memory>
 
namespace arpirobot{
 
    class Action; // Forward declare b/c this header is included by action.hpp
 
    class BaseDevice{
    public:
 
        virtual ~BaseDevice();
 
        virtual std::string getDeviceName();
 
        bool isLockedByAction(std::shared_ptr<Action> action = nullptr);
 
        bool isLockedByAction(Action &action);
 
    protected:
        virtual void begin() = 0;
        virtual bool isEnabled() = 0;
        virtual bool shouldMatchRobotState() = 0;
        virtual bool shouldDisableWithWatchdog() = 0;
        virtual void enable() = 0;
        virtual void disable() = 0;
    
        bool initialized = false;
        std::string deviceName;
 
    private:
 
        void lockDevice(Action *action);
 
        void releaseDevice(Action *action);
 
        void doBegin();
 
        std::mutex actionLock;
 
        // Not shared_ptr because should not keep Action in scope
        // Action will set when locking
        // Action will unset on unlock or on finish
        Action *lockingAction = nullptr;
 
        friend class Action; // Needs to call lockDevice
        friend class BaseRobot; // Needs doBegin, enable, disable
    };
}