JavaAlgorithm.h

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#ifndef   _GAMS_ALGORITHM_JAVA_H_
#define   _GAMS_ALGORITHM_JAVA_H_
 
#include "gams/variables/Self.h"
#include "gams/variables/Sensor.h"
#include "gams/variables/PlatformStatus.h"
#include "gams/algorithms/BaseAlgorithm.h"
#include "gams/utility/GPSPosition.h"
#include "madara/knowledge/KnowledgeBase.h"
#include "gams/algorithms/AlgorithmFactory.h"
 
#ifdef _GAMS_JAVA_
#include <jni.h>
#include "gams_jni.h"
#endif
 
namespace gams
{
  namespace algorithms
  {
    class GAMS_EXPORT JavaAlgorithm : public BaseAlgorithm
    {
    public:
      JavaAlgorithm(
        jobject obj,
        madara::knowledge::KnowledgeBase * knowledge = 0,
        platforms::BasePlatform * platform = 0,
        variables::Sensors * sensors = 0,
        variables::Self * self = 0,
        variables::Agents * agents = 0);
 
      ~JavaAlgorithm();
 
      void operator=(const JavaAlgorithm & rhs);
      
      virtual int analyze(void);
      
      virtual int execute(void);
 
      virtual int plan(void);
      
      virtual std::string get_id() const;
 
      virtual std::string get_name() const;
      
      jobject get_java_instance(void);
 
    protected:
      jobject obj_;
 
      jclass class_;
    };
 
 
    class GAMS_EXPORT JavaAlgorithmFactory : public AlgorithmFactory
    {
    public:
 
      JavaAlgorithmFactory(jobject obj);
 
      virtual ~JavaAlgorithmFactory();
 
      virtual BaseAlgorithm * create(
        const madara::knowledge::KnowledgeMap & args,
        madara::knowledge::KnowledgeBase * knowledge,
        platforms::BasePlatform * platform,
        variables::Sensors * sensors,
        variables::Self * self,
        variables::Agents * agents);
 
      jobject get_java_instance(void);
 
      protected:
        jobject obj_;
    };
  }
}
 
#endif // _GAMS_ALGORITHM_JAVA_H_