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FRC2016-old/DriveBase/wpilib/cpp/current/include/Commands/Scheduler.h
2016-01-28 11:33:19 -05:00

71 lines
2.1 KiB
C++

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2011-2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#ifndef __SCHEDULER_H__
#define __SCHEDULER_H__
#include "Commands/Command.h"
#include "ErrorBase.h"
#include "SmartDashboard/NamedSendable.h"
#include "networktables/NetworkTable.h"
#include "SmartDashboard/SmartDashboard.h"
#include <list>
#include <map>
#include <memory>
#include <set>
#include <string>
#include <vector>
#include "HAL/cpp/priority_mutex.h"
class ButtonScheduler;
class Subsystem;
class Scheduler : public ErrorBase, public NamedSendable {
public:
static Scheduler *GetInstance();
void AddCommand(Command *command);
void AddButton(ButtonScheduler *button);
void RegisterSubsystem(Subsystem *subsystem);
void Run();
void Remove(Command *command);
void RemoveAll();
void ResetAll();
void SetEnabled(bool enabled);
void UpdateTable();
std::string GetSmartDashboardType() const;
void InitTable(std::shared_ptr<ITable> subTable);
std::shared_ptr<ITable> GetTable() const;
std::string GetName() const;
std::string GetType() const;
private:
Scheduler();
virtual ~Scheduler() = default;
void ProcessCommandAddition(Command *command);
Command::SubsystemSet m_subsystems;
priority_mutex m_buttonsLock;
typedef std::vector<ButtonScheduler *> ButtonVector;
ButtonVector m_buttons;
typedef std::vector<Command *> CommandVector;
priority_mutex m_additionsLock;
CommandVector m_additions;
typedef std::set<Command *> CommandSet;
CommandSet m_commands;
bool m_adding = false;
bool m_enabled = true;
std::vector<std::string> commands;
std::vector<double> ids;
std::vector<double> toCancel;
std::shared_ptr<ITable> m_table;
bool m_runningCommandsChanged = false;
};
#endif