Executor.h

Go to the documentation of this file.

 
#ifndef _GAMS_ALGORITHMS_EXECUTOR_H_
#define _GAMS_ALGORITHMS_EXECUTOR_H_
 
#include "gams/variables/Sensor.h"
#include "gams/platforms/BasePlatform.h"
#include "gams/algorithms/FormationFlying.h"
#include "gams/variables/AlgorithmStatus.h"
#include "gams/variables/Self.h"
#include "gams/algorithms/BaseAlgorithm.h"
#include "gams/algorithms/AlgorithmFactory.h"
#include "gams/algorithms/AlgorithmFactoryRepository.h"
#include "madara/utility/EpochEnforcer.h"
 
namespace gams
{
  namespace algorithms
  {
    class GAMS_EXPORT AlgorithmMetaData
    {
    public:
      std::string precond;
 
      std::string id;
 
      madara::knowledge::KnowledgeMap args;
 
      double max_time;
    };
 
    typedef  std::vector <AlgorithmMetaData> AlgorithmMetaDatas;
 
    class GAMS_EXPORT Executor : public BaseAlgorithm
    {
    public:
      Executor(
        AlgorithmMetaDatas algorithms,
        int repeat,
        madara::knowledge::KnowledgeBase * knowledge = 0,
        platforms::BasePlatform * platform = 0,
        variables::Sensors * sensors = 0,
        variables::Self * self = 0,
        variables::Agents * agents = 0);
 
      ~Executor();
 
      void operator=(Executor & rhs);
 
      virtual int analyze(void);
 
      virtual int execute(void);
 
      virtual int plan(void);
 
    protected:
 
      AlgorithmMetaDatas algorithms_;
 
      int repeat_;
 
      size_t alg_index_;
 
      int cycles_;
 
      BaseAlgorithm * current_;
 
      bool precond_met_;
 
      madara::utility::EpochEnforcer<std::chrono::steady_clock> enforcer_;
    };
    
    class GAMS_EXPORT ExecutorFactory : 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_EXECUTOR_H_