Executor.h

Go to the documentation of this file.

#ifndef _GAMS_ALGORITHMS_EXECUTOR_H_
#define _GAMS_ALGORITHMS_EXECUTOR_H_

#include "gams/variables/Sensor.h"
#include "gams/platforms/BasePlatform.h"
#include "gams/algorithms/FormationFlying.h"
#include "gams/variables/AlgorithmStatus.h"
#include "gams/variables/Self.h"
#include "gams/algorithms/BaseAlgorithm.h"
#include "gams/algorithms/AlgorithmFactory.h"
#include "gams/algorithms/AlgorithmFactoryRepository.h"
#include "madara/utility/EpochEnforcer.h"

namespace gams
{
  namespace algorithms
  {
    class GAMS_EXPORT AlgorithmMetaData
    {
    public:
      std::string precond;

      std::string id;

      madara::knowledge::KnowledgeMap args;

      double max_time;
    };

    typedef  std::vector <AlgorithmMetaData> AlgorithmMetaDatas;

    class GAMS_EXPORT Executor : public BaseAlgorithm
    {
    public:
      Executor (
        AlgorithmMetaDatas algorithms,
        int repeat,
        madara::knowledge::KnowledgeBase * knowledge = 0,
        platforms::BasePlatform * platform = 0,
        variables::Sensors * sensors = 0,
        variables::Self * self = 0,
        variables::Agents * agents = 0);

      ~Executor ();

      void operator= (Executor & rhs);

      virtual int analyze (void);

      virtual int execute (void);

      virtual int plan (void);

    protected:

      AlgorithmMetaDatas algorithms_;

      int repeat_;

      size_t alg_index_;

      int cycles_;

      BaseAlgorithm * current_;

      bool precond_met_;

      madara::utility::EpochEnforcer<std::chrono::steady_clock> enforcer_;
    };
    
    class GAMS_EXPORT ExecutorFactory : 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_EXECUTOR_H_