What are his intentions?

I work in a small business and have for 6 years I've known my boss (18yrs my senior) for 20+ years. He is in a relationship of 7years with a colleague in a different department. They have been going through a rough patch. He openly flirts with me and always has, even in front of her, sometimes she has had to put her foot down when he was trying to take me places work related with him, rather than take her. I got out of a long term relationship about a year ago, since then my boss has been more flirty and touchy, (we have always flirted even before I worked there) about a month ago, he asked if I was single, then proceeded to hug me (common place and I don't mind, he I was a friend before he was my boss) whilst hugging me he put his hand on my boobs and then pressed a semi on against me. He stands up for me and we get on well,we have a lot in common, our families have been friends a long time. It might be worth mentioning I have asd and adhd and I am lacking in people reading skills. I can always think of a plethora of reasons as to why people behave flirty etc and I never think anyone "likes" me until they make it extremely clear what their intentions are. I think a hell of a lot of him, always have, I don't want that to turn into more if it's unrequited.