JavaAlgorithm.h

Go to the documentation of this file.

#ifndef   _GAMS_ALGORITHM_JAVA_H_
#define   _GAMS_ALGORITHM_JAVA_H_

#include "gams/variables/Self.h"
#include "gams/variables/Sensor.h"
#include "gams/variables/PlatformStatus.h"
#include "gams/algorithms/BaseAlgorithm.h"
#include "gams/utility/GPSPosition.h"
#include "madara/knowledge/KnowledgeBase.h"
#include "gams/algorithms/AlgorithmFactory.h"

#ifdef _GAMS_JAVA_
#include <jni.h>
#include "gams_jni.h"
#endif

namespace gams
{
  namespace algorithms
  {
    class GAMS_EXPORT JavaAlgorithm : public BaseAlgorithm
    {
    public:
      JavaAlgorithm (
        jobject obj,
        madara::knowledge::KnowledgeBase * knowledge = 0,
        platforms::BasePlatform * platform = 0,
        variables::Sensors * sensors = 0,
        variables::Self * self = 0,
        variables::Agents * agents = 0);

      ~JavaAlgorithm ();

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

      virtual int plan (void);
      
      virtual std::string get_id () const;

      virtual std::string get_name () const;
      
      jobject get_java_instance (void);

    protected:
      jobject obj_;

      jclass class_;
    };


    class GAMS_EXPORT JavaAlgorithmFactory : public AlgorithmFactory
    {
    public:

      JavaAlgorithmFactory (jobject obj);

      virtual ~JavaAlgorithmFactory ();

      virtual BaseAlgorithm * create (
        const madara::knowledge::KnowledgeMap & args,
        madara::knowledge::KnowledgeBase * knowledge,
        platforms::BasePlatform * platform,
        variables::Sensors * sensors,
        variables::Self * self,
        variables::Agents * agents);

      jobject get_java_instance (void);

      protected:
        jobject obj_;
    };
  }
}

#endif // _GAMS_ALGORITHM_JAVA_H_