MapeLoop.h

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#ifndef   _GAMS_LOOP_H_
#define   _GAMS_LOOP_H_

#include "gams/GamsExport.h"
#include "gams/variables/Agent.h"
#include "gams/variables/Swarm.h"
#include "gams/variables/Self.h"
#include "gams/variables/Sensor.h"
#include "gams/algorithms/BaseAlgorithm.h"
#include "gams/platforms/BasePlatform.h"
#include "madara/knowledge/containers/Integer.h"
#include "madara/knowledge/containers/Double.h"
#include "madara/knowledge/containers/String.h"
#include "madara/knowledge/containers/DoubleVector.h"
#include "madara/knowledge/KnowledgeBase.h"

namespace gams
{
  namespace controllers
  {
    class GAMS_EXPORT MapeLoop
    {
    public:
      MapeLoop (madara::knowledge::KnowledgeBase & knowledge);

      ~MapeLoop ();

      void define_mape (const std::string & loop =
        "monitor (); analyze (); plan (); execute ()");
      
      void define_monitor (
        madara::knowledge::KnowledgeRecord (*func) (
          madara::knowledge::FunctionArguments &,
          madara::knowledge::Variables &));
      
      void define_analyze (
        madara::knowledge::KnowledgeRecord (*func) (
          madara::knowledge::FunctionArguments &,
          madara::knowledge::Variables &));
      
      void define_plan (
        madara::knowledge::KnowledgeRecord (*func) (
          madara::knowledge::FunctionArguments &,
          madara::knowledge::Variables &));
      
      void define_execute (
        madara::knowledge::KnowledgeRecord (*func) (
          madara::knowledge::FunctionArguments &,
          madara::knowledge::Variables &));

      void init_vars (madara::knowledge::KnowledgeBase & knowledge,
        const madara::knowledge::KnowledgeRecord::Integer & id = 0,
        const madara::knowledge::KnowledgeRecord::Integer & processes = -1);

      madara::knowledge::KnowledgeRecord run (double period = 0.5,
        double max_runtime = -1);

    protected:

      variables::Agents agents_;

      madara::knowledge::KnowledgeBase & knowledge_;

      madara::knowledge::CompiledExpression mape_loop_;

      variables::Self self_;

      variables::Sensors sensors_;

      variables::Swarm swarm_;
    };
  }
}

#endif // _GAMS_LOOP_H_