KarlEvaluator.h

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#ifndef _GAMS_ALGORITHMS_KARL_H_
#define _GAMS_ALGORITHMS_KARL_H_

#include "gams/algorithms/BaseAlgorithm.h"
#include "gams/algorithms/AlgorithmFactory.h"
#include "madara/utility/EpochEnforcer.h"

namespace gams
{
  namespace algorithms
  {
    class GAMS_EXPORT KarlEvaluator : public BaseAlgorithm
    {
    public:
      KarlEvaluator (
        const std::string & logic,
        const std::string & store_result,
        bool is_wait,
        double wait_time,
        madara::knowledge::KnowledgeBase * knowledge = 0,
        platforms::BasePlatform * platform = 0,
        variables::Sensors * sensors = 0,
        variables::Self * self = 0,
        variables::Agents * agents = 0);

      ~KarlEvaluator ();

      void operator= (KarlEvaluator & rhs);

      virtual int analyze (void);

      virtual int execute (void);

      virtual int plan (void);

    protected:

      madara::knowledge::CompiledExpression  compiled_logic_;

      madara::knowledge::EvalSettings settings_;

      std::string logic_;

      bool is_wait_;

      double wait_time_;

      madara::utility::EpochEnforcer<std::chrono::steady_clock> enforcer_;
    };
    
    class GAMS_EXPORT KarlEvaluatorFactory : 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_KARL_H_