stateMachineImpl.h

/*
 * Nominal Device Support v3 (NDS3)
 *
 * Copyright (c) 2015 Cosylab d.d.
 *
 * For more information about the license please refer to the license.txt
 * file included in the distribution.
 */

#ifndef NDSSTATEMACHINEIMPL_H
#define NDSSTATEMACHINEIMPL_H

#include <thread>
#include "nds3/definitions.h"
#include "nds3/impl/nodeImpl.h"

namespace nds
{

template <typename T> class PVDelegateInImpl;

class StateMachineImpl: public NodeImpl
{
public:

    StateMachineImpl(bool bAsync,
                     stateChange_t switchOnFunction,
                     stateChange_t switchOffFunction,
                     stateChange_t startFunction,
                     stateChange_t stopFunction,
                     stateChange_t recoverFunction,
                     allowChange_t allowStateChangeFunction);

    ~StateMachineImpl();

    void setState(const state_t newState);

    virtual state_t getLocalState() const;

    virtual void getGlobalState(timespec* pTimestamp, state_t* pState) const;

    bool canChange(const state_t newState) const;

    bool isAllowedTransition(const state_t currentState, const state_t newState) const;

    bool isIntermediateState(const state_t newState) const;

    parameters_t commandSetState(const state_t state, const parameters_t& parameters);

    virtual void initialize(FactoryBaseImpl& controlSystem);

    virtual void deinitialize();


protected:

    void executeTransition(const state_t initialState, const state_t finalState, stateChange_t transitionFunction);

    void executeTransitionThread(const state_t initialState, const state_t finalState, stateChange_t transitionFunction);

    void readLocalState(timespec* pTimestamp, std::int32_t* pValue);

    void writeLocalState(const timespec& timestamp, const std::int32_t& value);

    void readGlobalState(timespec* pTimestamp, std::int32_t* pValue);

    static std::string getStateName(const state_t state);

    bool m_bAsync;                     

    std::thread m_transitionThread;    
    std::mutex m_lockTransitionThread; 

    state_t m_localState;              
    timespec m_stateTimestamp;         

    stateChange_t m_switchOn;          
    stateChange_t m_switchOff;         
    stateChange_t m_start;             
    stateChange_t m_stop;              
    stateChange_t m_recover;           
    allowChange_t m_allowChange;       

    std::shared_ptr<PVDelegateInImpl<std::int32_t> > m_pGetStatePV; 

};


}

#endif // NDSSTATEMACHINEIMPL_H