/*
 * FailureTermination.h
 *
 *  Created on: 4 окт. 2019 г.
 *      Author: titov
 */

#ifndef SOURCE_DRIVER_SAFETY_FAILURETERMINATION_H_
#define SOURCE_DRIVER_SAFETY_FAILURETERMINATION_H_

#include "../../peripheral/IGpioOverride.hh"
#include "../../peripheral/IPwmOverride.hh"

#include <memory_resource>
#include <utility>
#include <deque>

#include "ITermination.hh"

namespace driver { namespace safety {

class FailureTermination : public ITermination {
public:
    FailureTermination( std::pmr::memory_resource * memory );

    void addTerminate( peripheral::IPwmOverride * );
    void addTerminate( peripheral::IGpioOverride *, peripheral::IGpioOverride::TOutValue );

    void terminate();
    void recovery();

    bool isTerminated() const;

    ~FailureTermination() noexcept {};
private:
    typedef std::deque< peripheral::IPwmOverride *, std::pmr::polymorphic_allocator<peripheral::IPwmOverride *> > Pwms;
    typedef std::deque<
            std::pair<peripheral::IGpioOverride *, peripheral::IGpioOverride::TOutValue>,
            std::pmr::polymorphic_allocator< std::pair<peripheral::IGpioOverride *, peripheral::IGpioOverride::TOutValue> >
    > Gpios;

    Pwms pwms;
    Gpios gpios;

    FailureTermination() = delete;
    FailureTermination( const FailureTermination & ) = delete;
    FailureTermination & operator==( const FailureTermination & ) = delete;

    bool terminated;
};

}}


#endif /* SOURCE_DRIVER_SAFETY_FAILURETERMINATION_H_ */