ConcurrentScheduler.h

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/* Copyright (C) Cross The Road Electronics 2024 */
#pragma once
 
#include <vector>
#include "ctre/phoenix/tasking/ILoopable.h"
#include "ctre/phoenix/tasking/IProcessable.h"
 
namespace ctre {
namespace phoenix {
/** tasking namespace */
namespace tasking {
/** schedulers namespace */
namespace schedulers {
 
/**
 * Scheduler that wil run its ILoopables in concurrency
 */
class ConcurrentScheduler: public ILoopable, public IProcessable {
public:
    /** Should be private */
    std::vector<ILoopable*> _loops;
    /** Should be private */
    std::vector<bool> _enabs;
 
    ConcurrentScheduler();
    virtual ~ConcurrentScheduler();
    /**
     * Add ILoopable to schedule
     * @param aLoop ILoopable to add to schedule
     * @param enable Whether to enable ILoopable
     */
    void Add(ILoopable *aLoop, bool enable = true);
    /**
     * Remove all ILoopables from scheduler
     */
    void RemoveAll();
    /**
     * Start an ILoopable
     * @param toStart ILoopable to start
     */
    void Start(ILoopable *toStart);
    /**
     * Stop an ILoopable
     * @param toStop ILoopable to stop
     */
    void Stop(ILoopable *toStop);
    /**
     * Start all ILoopables
     */
    void StartAll();
    /**
     * Stop all ILoopables
     */
    void StopAll();
 
    //IProcessable
    /**
     * Process every ILoopable
     * 
     * Call this every loop
     */
    void Process();
 
    //ILoopable
    /**
     * @return false, this never iterates
     */
    bool Iterated();
    /**
     * Start all ILoopables
     */
    void OnStart();
    /**
     * Process all ILoopables
     */
    void OnLoop();
    /**
     * Stop all ILoopables
     */
    void OnStop();
    /**
     * @return false, this is never done
     */
    bool IsDone();
};
}
}
}
}