task_interface.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_TASK_INTERFACE_H_
#define SRC_TASKS_INCLUDE_CORBO_TASKS_TASK_INTERFACE_H_

#include <corbo-core/global.h>
#include <corbo-core/signal_target_interface.h>
#include <corbo-tasks/environment.h>

#ifdef MESSAGE_SUPPORT
#include <corbo-communication/messages/tasks/tasks.pb.h>
#endif

#include <memory>
#include <string>

namespace corbo {

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

    virtual ~TaskInterface() {}
    virtual Ptr getInstance() const = 0;

    virtual void performTask(Environment& environment, SignalTargetInterface* signal_target = nullptr, std::string* msg = nullptr,
                             const std::string& ns = "") = 0;

    virtual bool verify(const Environment& environment, std::string* msg = nullptr) const = 0;

    virtual void getAvailableSignals(const Environment& environment, SignalTargetInterface& signal_target, const std::string& ns = "") const {}

    virtual void reset() = 0;

#ifdef MESSAGE_SUPPORT
    virtual void toMessage(messages::Task& message) const {}
    virtual void fromMessage(const messages::Task& message, std::stringstream* issues = nullptr) {}
#endif
};

using TaskFactory = Factory<TaskInterface>;
#define FACTORY_REGISTER_TASK(type) FACTORY_REGISTER_OBJECT(type, TaskInterface)

}  // namespace corbo

#endif  // SRC_TASKS_INCLUDE_CORBO_TASKS_TASK_INTERFACE_H_