BaseAlgorithm.h

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#ifndef   _GAMS_ALGORITHMS_BASE_ALGORITHM_H_
#define   _GAMS_ALGORITHMS_BASE_ALGORITHM_H_

#include "gams/variables/Sensor.h"
#include "gams/platforms/BasePlatform.h"
#include "gams/variables/AlgorithmStatus.h"
#include "gams/variables/Self.h"
#include "gams/pose/Region.h"
#include "madara/knowledge/KnowledgeBase.h"

#include "gams/loggers/GlobalLogger.h"

#include <vector>

namespace gams
{
  namespace controllers
  {
    class BaseController;
    class Multicontroller;
  }

  namespace algorithms
  {
    enum AlgorithmAnalyzeStatus
    {
      UNKNOWN         = 0x00000000,
      OK              = 0x00000001,
      WAITING         = 0x00000002,
      DEADLOCKED      = 0x00000004,
      FAILED          = 0x00000008,
      FINISHED        = 0x00000010
    };

    class GAMS_EXPORT BaseAlgorithm
    {
    public:
      // allow Base controller to initialize our variables
      friend class controllers::BaseController;
      friend class controllers::Multicontroller;

      BaseAlgorithm (
        madara::knowledge::KnowledgeBase * knowledge = 0,
        platforms::BasePlatform * platform = 0,
        variables::Sensors * sensors = 0,
        variables::Self * self = 0,
        variables::Agents * agents = 0);

      virtual ~BaseAlgorithm ();

      void operator= (const BaseAlgorithm & rhs);
      
      virtual int analyze (void) = 0;
      
      virtual int execute (void) = 0;

      virtual int plan (void) = 0;
      
      virtual void set_agents (variables::Agents * agents);
      
      virtual void set_platform (platforms::BasePlatform * platform);

      virtual void set_self (variables::Self * self);
      
      virtual void set_sensors (variables::Sensors * sensors);
      
      variables::Agents * get_agents (void);

      madara::knowledge::KnowledgeBase * get_knowledge_base (void);

      platforms::BasePlatform * get_platform (void);

      variables::Self * get_self (void);

      variables::Sensors * get_sensors (void);

      variables::AlgorithmStatus * get_algorithm_status (void);

    protected:
      variables::Agents * agents_;

      unsigned int executions_;

      madara::knowledge::KnowledgeBase * knowledge_;

      platforms::BasePlatform * platform_;

      variables::Self * self_;

      variables::Sensors * sensors_;

      variables::AlgorithmStatus status_;
    };

    // deprecated typdef. Please use BaseAlgorithm instead.
    typedef  BaseAlgorithm    Base;

    typedef  std::vector <BaseAlgorithm *>   Algorithms;
  }
}

#endif // _GAMS_VARIABLES_SWARM_H_