TBOX_ASSERT(0 <= prio && prio <= 2);

TBOX_ASSERT(action != nullptr);

Item item = {

.id = allocActionId(),

.action = action

};

action_deque_array_.at(prio).push_back(item);

action->setFinishCallback([this](bool, const Action::Reason &, const Action::Trace &) { schedule(); });

action->vars().setParent(&vars_);

schedule();

return item.id;

if (curr_action_deque_index_ == -1)

return -1;

auto &action_deque = action_deque_array_.at(curr_action_deque_index_);

return action_deque.front().id;

if (curr_action_deque_index_ == -1)

return false;

auto &action_deque = action_deque_array_.at(curr_action_deque_index_);

auto item = action_deque.front();

item.action->stop();

delete item.action;

action_deque.pop_front();

schedule();

return true;

TBOX_ASSERT(action_id > 0);

for (auto &action_deque : action_deque_array_) {

auto iter = std::find_if(action_deque.begin(), action_deque.end(),

[action_id] (const Item &item) { return item.id == action_id; }

);

if (iter != action_deque.end()) {

delete iter->action;

action_deque.erase(iter);

schedule();

return true;

}

}

return false;

for (auto &action_deque : action_deque_array_) {

if (!action_deque.empty()) {

auto action_item = action_deque.front();

action_item.action->stop();

}

}

TBOX_ASSERT(cb_level_ == 0);

while (true) {

//! 找出优先级最高，且不为空的队列

int ready_deque_index = -1;

for (int i = 0; i < 3; ++i) {

if (!action_deque_array_.at(i).empty()) {

ready_deque_index = i;

break;

}

}

//! 如果所有的队列都是空的，那么就直接退出

if (ready_deque_index == -1) {

++cb_level_;

if (all_finished_cb_)

all_finished_cb_();

--cb_level_;

return;

}

//! 如果高优先级的队列比当前队列优先级还高，则要先暂停当前队列头部的动作

if (curr_action_deque_index_ != -1 &&

ready_deque_index < curr_action_deque_index_) {

action_deque_array_.at(curr_action_deque_index_).front().action->pause();

}

auto &ready_deque = action_deque_array_.at(ready_deque_index);

while (!ready_deque.empty()) {

auto item = ready_deque.front();

//! 没有启动的要启动

if (item.action->state() == Action::State::kIdle) {

if (item.action->start()) {

curr_action_deque_index_ = ready_deque_index;

++cb_level_;

if (action_started_cb_)

action_started_cb_(item.id);

--cb_level_;

} else {

ready_deque.pop_front();

delete item.action;

curr_action_deque_index_ = -1;

++cb_level_;

if (action_finished_cb_)

action_finished_cb_(item.id);

--cb_level_;

}

//! 被暂停了的，要恢复

} else if (item.action->state() == Action::State::kPause) {

curr_action_deque_index_ = ready_deque_index;

item.action->resume();

//! 已完成了的，要删除

} else if (item.action->state() == Action::State::kFinished ||

item.action->state() == Action::State::kStoped) {

ready_deque.pop_front();

delete item.action;

curr_action_deque_index_ = -1;

++cb_level_;

if (action_finished_cb_)

action_finished_cb_(item.id);

--cb_level_;

//! 其它状态：运行中，不需要处理

} else {

return;

}

}

}