DebugPlatform.h

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#ifndef   _GAMS_PLATFORM_PRINTER_H_
#define   _GAMS_PLATFORM_PRINTER_H_
 
#include "madara/knowledge/KnowledgeBase.h"
#include "madara/knowledge/containers/Integer.h"
 
#include "gams/variables/Self.h"
#include "gams/variables/Sensor.h"
#include "gams/variables/PlatformStatus.h"
#include "gams/platforms/BasePlatform.h"
#include "gams/platforms/PlatformFactory.h"
#include "gams/pose/CartesianFrame.h"
 
namespace gams
{
  namespace platforms
  {
    class GAMS_EXPORT DebugPlatform : public BasePlatform
    {
    public:
      DebugPlatform(
        madara::knowledge::KnowledgeBase * knowledge,
        variables::Sensors * sensors,
        variables::Platforms * platforms,
        variables::Self * self,
        const std::string & executions_location = ".executions");
 
      ~DebugPlatform();
 
      void operator=(const DebugPlatform & rhs);
 
      virtual int analyze(void) override;
       
      virtual double get_accuracy() const override;
      
      virtual std::string get_id() const override;
 
      virtual double get_move_speed() const override;
      
      virtual std::string get_name() const override;
 
      virtual int home(void) override;
      
      virtual int land(void) override;
      
      int move(const pose::Position & position,
          const pose::PositionBounds &bounds) override;
 
      using BasePlatform::move;
      
      virtual int sense(void) override;
      
      virtual void set_move_speed(const double& speed) override;
 
      virtual int takeoff(void) override;
 
    protected:
 
      pose::Position position_;
 
      madara::knowledge::containers::Integer  executions_;
    };
 
    class GAMS_EXPORT DebugPlatformFactory : public PlatformFactory
    {
    public:
 
      virtual BasePlatform * create(
        const madara::knowledge::KnowledgeMap & args,
        madara::knowledge::KnowledgeBase * knowledge,
        variables::Sensors * sensors,
        variables::Platforms * platforms,
        variables::Self * self);
    };
  }
}
 
#endif // _GAMS_PLATFORM_PRINTER_H_