DebugPlatform.h

Go to the documentation of this file.

#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 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_