SequentialScheduler.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 { namespace tasking { namespace schedulers {
 
/**
 * Scheduler that will run its ILoopables in sequence
 */
class SequentialScheduler: public ILoopable, public IProcessable{
public:
    /** should be private */
    bool _running = false;
    /** should be private */
    std::vector<ILoopable*> _loops;
    /** should be private */
    unsigned int _idx = 0;
    /** should be private */
    bool _iterated = false;
 
    SequentialScheduler();
    virtual ~SequentialScheduler();
 
    /**
     * Add ILoopable to scheduler
     * @param aLoop ILoopable to add
     */
    void Add(ILoopable *aLoop);
    /**
     * Get the currently running ILoopable
     * @return null, not implemented
     */
    ILoopable * GetCurrent();
    /**
     * Remove all ILoopables
     */
    void RemoveAll();
    /**
     * Start next ILoopable
     */
    void Start();
    /**
     * Stop every ILoopable
     */
    void Stop();
 
    //IProcessable
    /**
     * Process the currently active ILoopable
     * 
     * Call this every loop
     */
    void Process();
 
    //ILoopable
    /**
     * Start next ILoopable
     */
    void OnStart();
    /**
     * Process currently active ILoopable
     */
    void OnLoop();
    /**
     * Stop all ILoopables
     */
    void OnStop();
    /**
     * @return true when no longer running
     */
    bool IsDone();
};
}}}}