JavaPlatform.h

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#ifndef   _GAMS_PLATFORM_JAVA_H_
#define   _GAMS_PLATFORM_JAVA_H_

#include "gams/variables/Self.h"
#include "gams/variables/Sensor.h"
#include "gams/variables/PlatformStatus.h"
#include "gams/platforms/BasePlatform.h"
#include "gams/utility/GPSPosition.h"
#include "madara/knowledge/KnowledgeBase.h"

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

namespace gams
{
  namespace platforms
  {
    class GAMS_EXPORT JavaPlatform : public BasePlatform
    {
    public:
      JavaPlatform (
        jobject obj,
        madara::knowledge::KnowledgeBase * knowledge = 0,
        variables::Sensors * sensors = 0,
        variables::Platforms * platforms = 0,
        variables::Self * self = 0);

      ~JavaPlatform ();

      void operator= (const JavaPlatform & rhs);

      virtual int analyze (void) override;

      virtual double get_accuracy () const override;
             
      virtual std::string get_id () const override;

      virtual double get_move_speed () const override;
      
      virtual std::string get_name () const override;

      virtual int home (void) override;
      
      virtual int land (void) override;
      
      virtual int move (const pose::Position & position,
        const PositionBounds &bounds) override;
      
      // inherit BasePlatform's move overloads
      using BasePlatform::move;
      
      virtual int orient (const pose::Orientation & axes,
        const OrientationBounds &bounds) override;

      // inherit BasePlatform orient overloads
      using BasePlatform::orient;
      
      virtual int sense (void) override;
      
      virtual void set_move_speed (const double& speed) override;

      virtual int takeoff (void) override;

      jobject get_java_instance (void);

    protected:
      jobject obj_;

      jclass class_;
    };
  }
}

#endif // _GAMS_PLATFORM_JAVA_H_