action_layer.h

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#ifndef _ACTION_LAYER_H_
#define _ACTION_LAYER_H_

#include <string>
#include <vector>
#include <map>

#include <boost/function.hpp>

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

#include <mdm_library/ActionSymbol.h>
#include <mdm_library/FactoredSymbolMetadata.h>



namespace mdm_library
{
class ActionLayer
{
public:
    typedef std::vector<boost::function<void () > > ActionCallbacksVector;
    typedef std::vector<std::string> ActionNamesVector;

    typedef std::map<std::string, size_t> ActionIDMap;

    typedef std::vector<std::size_t> ActionIDVector;

    typedef std::vector<size_t> ActionSizesVector;

    ActionLayer ();
    ActionLayer ( const FactoredSymbolMetadataConstPtr& action_metadata );

    ActionLayer ( ros::CallbackQueueInterface* queue );

    void actionSymbolCallback ( const mdm_library::ActionSymbolConstPtr& msg );

    void actionMetadataCallback ( const mdm_library::FactoredSymbolMetadataConstPtr& msg );

    void addAction ( boost::function<void () > callback );

    void addAction ( boost::function<void () > callback, const std::string & action_name );

    uint32_t jointToIndividualAction ( const uint32_t joint_action );

private:
    ros::NodeHandle nh_;

    ros::Subscriber action_sub_;
    ros::Subscriber action_metadata_sub_;

    ActionCallbacksVector action_callbacks_;
    ActionNamesVector local_action_names_;
    ActionIDMap named_action_ids_;
    ActionIDVector action_ids_;

    ActionSizesVector action_sizes_;

    uint32_t cached_sizes_prod_;
    ActionSymbolConstPtr pending_action_;

    int mdm_agent_index_;

    bool using_named_actions_;
};
}

#endif