BaseAlgorithm.h

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#ifndef   _GAMS_ALGORITHMS_BASE_ALGORITHM_H_
#define   _GAMS_ALGORITHMS_BASE_ALGORITHM_H_
 
#include "gams/variables/Sensor.h"
#include "gams/platforms/BasePlatform.h"
#include "gams/variables/AlgorithmStatus.h"
#include "gams/variables/Self.h"
#include "gams/pose/Region.h"
#include "madara/knowledge/KnowledgeBase.h"
 
#include "gams/loggers/GlobalLogger.h"
 
#include <vector>
 
namespace gams
{
  namespace controllers
  {
    class BaseController;
    class Multicontroller;
  }
 
  namespace algorithms
  {
    enum AlgorithmAnalyzeStatus
    {
      UNKNOWN         = 0x00000000,
      OK              = 0x00000001,
      WAITING         = 0x00000002,
      DEADLOCKED      = 0x00000004,
      FAILED          = 0x00000008,
      FINISHED        = 0x00000010
    };
 
    class GAMS_EXPORT BaseAlgorithm
    {
    public:
      // allow Base controller to initialize our variables
      friend class controllers::BaseController;
      friend class controllers::Multicontroller;
 
      BaseAlgorithm(
        madara::knowledge::KnowledgeBase * knowledge = 0,
        platforms::BasePlatform * platform = 0,
        variables::Sensors * sensors = 0,
        variables::Self * self = 0,
        variables::Agents * agents = 0);
 
      virtual ~BaseAlgorithm();
 
      void operator=(const BaseAlgorithm & rhs);
      
      virtual int analyze(void) = 0;
      
      virtual int execute(void) = 0;
 
      virtual int plan(void) = 0;
      
      virtual void set_agents(variables::Agents * agents);
      
      virtual void set_platform(platforms::BasePlatform * platform);
 
      virtual void set_self(variables::Self * self);
      
      virtual void set_sensors(variables::Sensors * sensors);
      
      variables::Agents * get_agents(void);
 
      madara::knowledge::KnowledgeBase * get_knowledge_base(void);
 
      platforms::BasePlatform * get_platform(void);
 
      variables::Self * get_self(void);
 
      variables::Sensors * get_sensors(void);
 
      variables::AlgorithmStatus * get_algorithm_status(void);
 
    protected:
      variables::Agents * agents_;
 
      unsigned int executions_;
 
      madara::knowledge::KnowledgeBase * knowledge_;
 
      platforms::BasePlatform * platform_;
 
      variables::Self * self_;
 
      variables::Sensors * sensors_;
 
      variables::AlgorithmStatus status_;
    };
 
    // deprecated typdef. Please use BaseAlgorithm instead.
    typedef  BaseAlgorithm    Base;
 
    typedef  std::vector <BaseAlgorithm *>   Algorithms;
  }
}
 
#endif // _GAMS_VARIABLES_SWARM_H_