Behavior.hpp

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/*
 * Behavior.hpp
 *
 *  Created on: Nov 15, 2011
 *      Author: mriedel
 */

#ifndef INTERFACE_BEHAVIOR_HPP_
#define INTERFACE_BEHAVIOR_HPP_

#include <telekyb_defines/telekyb_defines.hpp>

#include <telekyb_interface/OptionContainer.hpp>

#include <ros/ros.h>

namespace TELEKYB_INTERFACE_NAMESPACE {

// forward declaration
class BehaviorController;

// Behavior with behaviorID == 0 are invalid!

class Behavior {
private:
        // Null-Init
        Behavior(uint64_t behaviorID_, const std::string& behaviorName_, BehaviorController* behaviorController_);

        // set Null
        void setNull();

protected:
        uint64_t behaviorID;
        std::string behaviorName;

        // BehaviorNodeHandle
        BehaviorController* behaviorController;

        ros::NodeHandle behaviorNodeHandle;

public:
        Behavior(); // can always NULL Init
        virtual ~Behavior();

        void setNextBehavior(const Behavior& behavior);
        Behavior getNextBehavior();

        // option can only be loaded if set to true!
        void setParameterInitialized(bool initialized_);

        // get OptionContainer
        OptionContainer getOptionContainer();

        uint64_t getBehaviorID() const;
        std::string getBehaviorName() const;

        bool isNull() const;

        friend class BehaviorController;

        // Operators
        friend bool operator==(Behavior& lhs, Behavior& rhs);
        friend bool operator!=(Behavior& lhs, Behavior& rhs);

};

} /* namespace telekyb_interface */
#endif /* BEHAVIOR_HPP_ */