environment.h

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/*********************************************************************
 *
 *  Software License Agreement
 *
 *  Copyright (c) 2020,
 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
 *  All rights reserved.
 *
 *  This program is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 *  Authors: Christoph Rösmann
 *********************************************************************/

#ifndef SRC_TASKS_INCLUDE_CORBO_TASKS_ENVIRONMENT_H_
#define SRC_TASKS_INCLUDE_CORBO_TASKS_ENVIRONMENT_H_

#include <corbo-controllers/controller_interface.h>
#include <corbo-observers/observer_interface.h>
#include <corbo-plants/plant_interface.h>
#include <memory>
#include <string>

namespace corbo {

class Environment
{
 public:
    using Ptr = std::shared_ptr<Environment>;

    Environment() {}
    Environment(ControllerInterface::Ptr controller, ObserverInterface::Ptr observer, PlantInterface::Ptr plant);

    bool hasController() const { return (bool)_controller; }
    bool hasObserver() const { return (bool)_observer; }
    bool hasPlant() const { return (bool)_plant; }

    const ControllerInterface::Ptr& getController() const { return _controller; }
    ControllerInterface::Ptr getControllerPtr() { return _controller; }
    const ObserverInterface::Ptr& getObserver() const { return _observer; }
    ObserverInterface::Ptr getObserverPtr() { return _observer; }
    const PlantInterface::Ptr& getPlant() const { return _plant; }
    PlantInterface::Ptr getPlantPtr() { return _plant; }

    void setController(ControllerInterface::Ptr controller);
    void setObserver(ObserverInterface::Ptr observer);
    void setPlant(PlantInterface::Ptr plant);

    bool verify(std::string* msg = nullptr) const;

    void reset();

 private:
    ControllerInterface::Ptr _controller;
    ObserverInterface::Ptr _observer;
    PlantInterface::Ptr _plant;
};

}  // namespace corbo

#endif  // SRC_TASKS_INCLUDE_CORBO_TASKS_ENVIRONMENT_H_