#ifndef __COROUTINE_MANAGER_HPP__
  #define __COROUTINE_MANAGER_HPP__

// Author: Adrian Böckenkamp
// Date:   05.10.2011

#include <map>
#include <stack>

#include <pcl.h> // the underlying "portable coroutine library"


namespace fi
{

class ExperimentFlow;

/**
 * \class CoroutineManager
 * Manages the experiments flow encapsulated in coroutines. Each
 * experiment (flow) has it's associated data structure which is
 * represented by the ExperimentData-class.
 */
class CoroutineManager
{
	private:
		//! the default stack size for coroutines (= experiment flows)
		static const unsigned STACK_SIZE_DEFAULT = 4096*4096;
		//! the abstraction for coroutine identification
		typedef coroutine_t corohandle_t;
		typedef std::map<ExperimentFlow*,corohandle_t> flowmap_t;
		//! the mapping "flows <-> coro-handle"
		flowmap_t m_Flows;
		//! the simulator/backend coroutine handle
		corohandle_t m_simCoro;
		//! stack of coroutines that explicitly activated another one with toggle()
		std::stack<corohandle_t> m_togglerstack;
		//! manages the run-calls for each ExperimentFlow-object
		static void m_invoke(void* pData);
	public:
		static const ExperimentFlow* SIM_FLOW; //!< the simulator coroutine flow

		CoroutineManager() : m_simCoro(co_current()) { }
		~CoroutineManager();
		/**
		 * Creates a new coroutine for the specified experiment flow.
		 * @param flow the flow to be executed in the newly created coroutine
		 */
		void create(ExperimentFlow* flow);
		/**
		 * Destroys coroutine for the specified experiment flow.
		 * @param flow the flow to be removed
		 */
		void remove(ExperimentFlow* flow);
		/**
		 * Switches the control flow to the experiment \a flow. If \a flow is
		 * equal to \c SIM_FLOW, the control will be handed back to the
		 * simulator.  The current control flow is pushed onto an
		 * internal stack.
		 * @param flow the destination control flow or \c SIM_FLOW (= \c NULL )
		 */
		void toggle(ExperimentFlow* flow);
		/**
		 * Gives the control back to the coroutine that toggle()d the
		 * current one, by drawing from the internal stack built from
		 * calls to toggle().
		 */
		void resume();
		/**
		 * Retrieves the current (active) coroutine (= flow).
		 * @return the current experiment flow.
		 */
		ExperimentFlow* getCurrent();
};

} // end-of-namespace: fi

#endif /* __COROUTINE_MANAGER_HPP__ */