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/NamedSendable.h"
#include "networktables/NetworkTable.h"
#include "networktables2/type/NumberArray.h"
#include "networktables2/type/StringArray.h"
#include "SmartDashboard/SmartDashboard.h"
#include <list>
#include <map>
#include <set>
#include <vector>

class ButtonScheduler;
class Subsystem;

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

        void AddCommand(Command* command);
        void AddButton(ButtonScheduler* button);
        void RegisterSubsystem(Subsystem *subsystem);
        void Run();     
        void Remove(Command *command);
        void RemoveAll();
        void SetEnabled(bool enabled);
        
        void UpdateTable();
        std::string GetSmartDashboardType();
        void InitTable(ITable *subTable);
        ITable * GetTable();
        std::string GetName();
        std::string GetType();

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

        void ProcessCommandAddition(Command *command);

        static Scheduler *_instance;
        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;
        bool m_enabled;
        StringArray *commands;
        NumberArray *ids;
        NumberArray *toCancel;
        ITable *m_table;
        bool m_runningCommandsChanged;
};
#endif