modeExecutor.h

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 
 
#ifndef MODEEXECUTOR_H
#define MODEEXECUTOR_H
 
#include <mode.h>
#include <iColorO.h>
#include <modeFactory.h>
#include <boost/thread.hpp>
#include <boost/lambda/bind.hpp>
#include <map>
 
class ModeExecutor
{
public:
        ModeExecutor(IColorO* colorO);
        ~ModeExecutor();
 
        uint64_t execute(boost::shared_ptr<Mode> mode);
        uint64_t execute(cob_light::LightMode requestMode);
 
        int getExecutingPriority();
        int getExecutingMode();
        uint64_t getExecutingUId();
 
        void pause();
        void resume();
        void stop();
        bool stop(uint64_t uId);
 
        void setDefaultPriority(int priority);
 
private:
        IColorO* _colorO;
 
        boost::shared_ptr<Mode> _activeMode;
        std::map<int, boost::shared_ptr<Mode>, std::greater<int> > _mapActiveModes;
        color::rgba _activeColor;
 
        bool _stopRequested;
        int default_priority;
 
        void onModeFinishedReceived(int prio);
        void onColorSetReceived(color::rgba color);
};
 
#endif