Behavior.hpp

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/*
 * Behavior.hpp
 *
 *  Created on: Oct 28, 2011
 *      Author: mriedel
 */

#ifndef BEHAVIOR_HPP_
#define BEHAVIOR_HPP_

#include <telekyb_defines/telekyb_defines.hpp>

#include <telekyb_base/Messages.hpp>

//For OptionContainer
#include <telekyb_base/Options.hpp>

#include <string>
#include <ros/ros.h>

// BehaviorType
#include <tk_behavior/BehaviorType.hpp>

// Interface
#include <tk_behavior/BehaviorInterface.hpp>

// plugin stuff
#include <pluginlib/class_list_macros.h>

namespace TELEKYB_NAMESPACE
{

// forward declaration
class BehaviorController;

// Interface definition for Behaviors

// Every Behavior is an OptionContainer
class Behavior : public OptionContainer
{
private:
        // cannot be overwritten by Behavior implementations!
        BehaviorType type;

protected:
        Behavior(const std::string& name_, const BehaviorType& type_);

        BehaviorController& bController;
        // ROS
        ros::NodeHandle nodeHandle;

        // name <- set by BehaviorContainer, since it loads by name
        std::string name;
        //void setName(const std::string& name_);

        // is set to true after Behavior is Parameter-Initalized.
        // if Behavior has no Parameters, set this to true within initialize().
        bool parameterInitialized;

        // Follow up Behavior -> get's activated if trajectoryStep return false.
        Behavior* nextBehavior;

        // Interface for ROS
        BehaviorInterface* behaviorInterface;

public:
        // Pure Base Methods
        uint64_t getID() const;
        std::string getIDString() const;
        std::string getName() const;
        bool isParameterInitialized() const;
        void setParameterInitialized(bool parameterInitialized_);

        // get NodeHandle
        const ros::NodeHandle& getNodeHandle() const;

        // returns true if this behavior is the current active one
        bool isActive() const;

        // Next Behavior Control
        bool setNextBehavior(Behavior* nextBehavior_);
        void unsetNextBehavior();
        bool hasNextBehavior() const;
        Behavior* getNextBehavior() const;

        BehaviorType getType() const;

        // Method with old/current Behavior. This is called by the Controller and will call
        bool canTransitionTo(const Behavior& toBehavior) const;

        // called directly after Creation
        virtual void initialize() = 0;

        // called right before destruction
        virtual void destroy() = 0;

        // called right before Behavior becomes active. Get's the currentState once.
        virtual bool willBecomeActive(const TKState& currentState, const Behavior& previousBehavior) = 0;

        // called right after Behavior became active. Get's the currentState once.
        virtual void didBecomeActive(const TKState& currentState, const Behavior& previousBehavior) = 0;

        // called right before Behavior becomes inactive
        virtual void willBecomeInActive(const TKState& currentState, const Behavior& nextBehavior) = 0;

        // called right after Behavior become inactive
        virtual void didBecomeInActive(const TKState& currentState, const Behavior& nextBehavior) = 0;

        // called everytime a new TKState is available AND it is the NEW Behavior of an active Switch
        virtual void trajectoryStepCreation(const TKState& currentState, TKTrajectory& generatedTrajInput) = 0;

        // called everytime a new TKState is available. Should return false if invalid (swtich to next behavior, or Hover if undef).
        virtual void trajectoryStepActive(const TKState& currentState, TKTrajectory& generatedTrajInput) = 0;

        // called everytime a new TKState is available AND it is the OLD Behavior of an active Switch
        virtual void trajectoryStepTermination(const TKState& currentState, TKTrajectory& generatedTrajInput) = 0;

        // Return true if the active Behavior is (still) valid. Initiate Switch otherwise
        virtual bool isValid(const TKState& currentState) const = 0;

        // Destructor
        virtual ~Behavior();

        // Friend BehaviorContainer to setName
        //friend class BehaviorContainer;

        // static Helpers
        static Behavior* behaviorFromID(uint64_t behaviorID);
        static uint64_t behaviorToID(Behavior* b);
        static bool exists(Behavior *behavior);
        static bool exists(uint64_t behaviorID);
};


} // namepsace


#endif /* BEHAVIOR_HPP_ */