KarlEvaluator.h

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#ifndef _GAMS_ALGORITHMS_KARL_H_
#define _GAMS_ALGORITHMS_KARL_H_
 
#include "gams/algorithms/BaseAlgorithm.h"
#include "gams/algorithms/AlgorithmFactory.h"
#include "madara/utility/EpochEnforcer.h"
 
namespace gams
{
  namespace algorithms
  {
    class GAMS_EXPORT KarlEvaluator : public BaseAlgorithm
    {
    public:
      KarlEvaluator(
        const std::string & logic,
        const std::string & store_result,
        bool is_wait,
        double wait_time,
        madara::knowledge::KnowledgeBase * knowledge = 0,
        platforms::BasePlatform * platform = 0,
        variables::Sensors * sensors = 0,
        variables::Self * self = 0,
        variables::Agents * agents = 0);
 
      ~KarlEvaluator();
 
      void operator=(KarlEvaluator & rhs);
 
      virtual int analyze(void);
 
      virtual int execute(void);
 
      virtual int plan(void);
 
    protected:
 
#ifndef _MADARA_NO_KARL_
      madara::knowledge::CompiledExpression  compiled_logic_;
#endif
 
      madara::knowledge::EvalSettings settings_;
 
      std::string logic_;
 
      bool is_wait_;
 
      double wait_time_;
 
      madara::utility::EpochEnforcer<std::chrono::steady_clock> enforcer_;
    };
    
    class GAMS_EXPORT KarlEvaluatorFactory : public AlgorithmFactory
    {
    public:
      virtual BaseAlgorithm * create(
        const madara::knowledge::KnowledgeMap & args,
        madara::knowledge::KnowledgeBase * knowledge,
        platforms::BasePlatform * platform,
        variables::Sensors * sensors,
        variables::Self * self,
        variables::Agents * agents);
    };
  }
}
 
#endif // _GAMS_ALGORITHMS_KARL_H_