TACOS/include/sta/tacos/manager.hpp

/*
 * manager.hpp
 *
 *  Created on: Sep 19, 2023
 *      Author: Dario
 */

#ifndef INCLUDE_STA_TACOS_MANAGER_HPP_
#define INCLUDE_STA_TACOS_MANAGER_HPP_


#include <sta/config.hpp>

#if !defined(STA_TACOS_MANAGER_PRIORITY)  && !defined(DOXYGEN)
#	error "Manger task priority not specified in config.hpp"
#else 

#include <set>
#include <list>
#include <memory>
#include <sta/tacos/thread.hpp>

/**
 * @defgroup tacos_manager Manager Task
 * @ingroup tacos
 * @brief Manager task for TACOS.
 */

namespace sta
{
	namespace tacos
	{
		/**
		 * @brief Manager class for Tacos.
		 *
		 * @ingroup tacos_manager
		 */
		class Manager : public TacosThread
		{
		public:
			/**
			 * @brief Get the singleton instance of the manager.
			 * 
			 * @ingroup tacos_manager
			 */
			static Manager* instance()
			{
				static CGuard g;

				if (!_instance)
				{
					// Create a the manager singleton instance.
					Manager::_instance = new Manager();
				}

				return _instance;
			}

			/**
			 * @brief Register a thread to be managed by the manager.
			 */
			void registerThread(std::shared_ptr<TacosThread> thread, std::list<uint16_t> states);

			void init() override;

			void func() override;

		private:
			static Manager* _instance;

			class CGuard
			{
			public:
			   ~CGuard()
			   {
				  if( NULL != Manager::_instance )
				  {
					 delete Manager::_instance;
					 Manager::_instance = NULL;
				  }
			   }
			};

			Manager();

			Manager(const Manager&);

			//~Manager();

			/**
			 * @brief Forces only threads of current state to run.
			 */
			void updateThreads();

			/**
			 * @brief Starts all threads which should be running in the given state. Does nothing if the state is already running.
			 */
			void startThreads(uint16_t state);

			/**
			 * @brief Stops all threads which should not be running in the given state.
			 */
			void stopThreads(uint16_t state);

			/**
			 * @brief Pointers to all threads which are managed by the manager.
			 * 
			 * @ingroup tacos_manager
			 */
			std::set<std::shared_ptr<TacosThread>> threads_[STA_TACOS_NUM_STATES];
		};
	}  // namespace tacos
}  // namespace sta

#endif // STA_TACOS_MANAGER_PRIORITY

#endif /* INCLUDE_STA_TACOS_MANAGER_HPP_ */