GroupBarrier.h

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#ifndef _GAMS_ALGORITHMS_GROUP_BARRIER_H_
#define _GAMS_ALGORITHMS_GROUP_BARRIER_H_

#include <vector>
#include <string>

#include "gams/variables/Sensor.h"
#include "gams/platforms/BasePlatform.h"
#include "gams/variables/AlgorithmStatus.h"
#include "gams/variables/Self.h"
#include "gams/algorithms/BaseAlgorithm.h"
#include "gams/utility/GPSPosition.h"
#include "gams/algorithms/AlgorithmFactory.h"
#include "madara/knowledge/containers/Integer.h"
#include "madara/knowledge/containers/Barrier.h"
#include "madara/utility/EpochEnforcer.h"

namespace gams
{
  namespace algorithms
  {
    class GAMS_EXPORT GroupBarrier : public BaseAlgorithm
    {
    public:
      GroupBarrier (
        const std::vector<std::string> & members,
        std::string barrier_name,
        double interval,
        madara::knowledge::KnowledgeBase * knowledge = 0,
        platforms::BasePlatform * platform = 0,
        variables::Sensors * sensors = 0,
        variables::Self * self = 0);

      ~GroupBarrier ();

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

      virtual int plan (void);
      
    protected:
      int get_position_in_member_list (std::string id,
        std::vector <std::string> & member_list);

      std::vector <std::string> members_;

      int position_;

      madara::knowledge::containers::Barrier barrier_;

      madara::utility::EpochEnforcer<std::chrono::steady_clock> enforcer_;
    };
    
    class GAMS_EXPORT GroupBarrierFactory : 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_GROUP_BARRIER_H_