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libraries/FirmataWithDeviceFeature/src-features/FirmataScheduler.h

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+/*
+  FirmataScheduler.h - Firmata library
+  Copyright (C) 2012-2013 Norbert Truchsess. All rights reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  See file LICENSE.txt for further informations on licensing terms.
+*/
+
+#ifndef FirmataScheduler_h
+#define FirmataScheduler_h
+
+#include <ConfigurableFirmata.h>
+#include "FirmataFeature.h"
+#include "Encoder7Bit.h"
+
+//subcommands
+#define CREATE_FIRMATA_TASK     0
+#define DELETE_FIRMATA_TASK     1
+#define ADD_TO_FIRMATA_TASK     2
+#define DELAY_FIRMATA_TASK      3
+#define SCHEDULE_FIRMATA_TASK   4
+#define QUERY_ALL_FIRMATA_TASKS 5
+#define QUERY_FIRMATA_TASK      6
+#define RESET_FIRMATA_TASKS     7
+#define ERROR_TASK_REPLY        8
+#define QUERY_ALL_TASKS_REPLY   9
+#define QUERY_TASK_REPLY        10
+
+#define firmata_task_len(a)(sizeof(firmata_task)+(a)->len)
+
+void delayTaskCallback(long delay);
+
+struct firmata_task
+{
+  firmata_task *nextTask;
+  byte id; //only 7bits used -> supports 127 tasks
+  long time_ms;
+  int len;
+  int pos;
+  byte messages[];
+};
+
+class FirmataScheduler: public FirmataFeature
+{
+  public:
+    FirmataScheduler();
+    void handleCapability(byte pin); //empty method
+    boolean handlePinMode(byte pin, int mode); //empty method
+    boolean handleSysex(byte command, byte argc, byte* argv);
+    void runTasks();
+    void reset();
+    void createTask(byte id, int len);
+    void deleteTask(byte id);
+    void addToTask(byte id, int len, byte *message);
+    void schedule(byte id, long time_ms);
+    void delayTask(long time_ms);
+    void queryAllTasks();
+    void queryTask(byte id);
+
+  private:
+    firmata_task *tasks;
+    firmata_task *running;
+
+    boolean execute(firmata_task *task);
+    firmata_task *findTask(byte id);
+    void reportTask(byte id, firmata_task *task, boolean error);
+};
+
+#endif