ReplanningActionExecutor.h

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#ifndef actasp_ReplanningActionExecutor_h__guard
#define actasp_ReplanningActionExecutor_h__guard


#include <actasp/ActionExecutor.h>

#include <stdexcept>
#include <list>
#include <map>

namespace actasp {

class AspKR;
class Planner;
class Action;
class PlanningObserver;

class ReplanningActionExecutor : public ActionExecutor {

public:
        
        ReplanningActionExecutor(actasp::AspKR* reasoner, 
                                                         actasp::Planner *planner,
                                                         const std::map<std::string, Action * > &actionMap
                                                        ) throw (std::invalid_argument);
        
  using ActionExecutor::setGoal;
        void setGoal(const std::vector<actasp::AspRule>& goalRules) throw();

        bool goalReached() const throw() {
                return isGoalReached;
        }
        
        bool failed() const throw() {
                return hasFailed;
        }

        void executeActionStep();
  
  void addExecutionObserver(ExecutionObserver *observer) throw();
  void removeExecutionObserver(ExecutionObserver *observer) throw();
  
  void addPlanningObserver(PlanningObserver *observer) throw();
  void removePlanningObserver(PlanningObserver *observer) throw();
        
        ~ReplanningActionExecutor();
        

private:
        std::vector<actasp::AspRule> goalRules;
        bool isGoalReached;
        bool hasFailed;
        std::map<std::string, Action * > actionMap;
        
        std::list<Action *> plan;
  unsigned int actionCounter;
  bool newAction;
        
        AspKR* kr;
        Planner *planner;
  
  std::list<ExecutionObserver*> executionObservers;
  std::list<PlanningObserver*> planningObservers;
  
  void computePlan();


};


}
#endif