Commands/Scheduler.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2011. 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 $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#ifndef __SCHEDULER_H__
#define __SCHEDULER_H__

#include "Commands/Command.h"
#include "ErrorBase.h"
#include "SmartDashboard/SmartDashboardNamedData.h"
#include <list>
#include <map>
#include <set>
#include <vector>

class ButtonScheduler;
class NetworkTable;
class Subsystem;

class Scheduler : public SmartDashboardNamedData, public ErrorBase
{
public:
        static Scheduler *GetInstance();

        virtual std::string GetName();
        virtual std::string GetType();
        virtual NetworkTable *GetTable();

        void AddCommand(Command* command);
        void AddButton(ButtonScheduler* button);
        void RegisterSubsystem(Subsystem *subsystem);
        void Run();     
        void Remove(Command *command);

private:
        Scheduler();
        virtual ~Scheduler();

        void ProcessCommandAddition(Command *command);

        static Scheduler *_instance;
        SEM_ID m_tableLock;
        NetworkTable *m_table;
        Command::SubsystemSet m_subsystems;
        SEM_ID m_buttonsLock;
        typedef std::vector<ButtonScheduler *> ButtonVector;
        ButtonVector m_buttons;
        typedef std::vector<Command *> CommandVector;
        SEM_ID m_additionsLock;
        CommandVector m_additions;
        typedef std::set<Command *> CommandSet;
        CommandSet m_commands;
        bool m_adding;
};
#endif