SystemBehaviorContainer.hpp

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/*
 * SystemBehaviorContainer.hpp
 *
 *  Created on: Nov 12, 2011
 *      Author: mriedel
 */

#ifndef SYSTEMBEHAVIORCONTAINER_HPP_
#define SYSTEMBEHAVIORCONTAINER_HPP_

#include <telekyb_defines/telekyb_defines.hpp>

#include <tk_behavior/BehaviorContainer.hpp>

// Ok it's a little bit confusing that behavior plugin path and include are different.
// I should rename this.
// ros_package name != include folder != behavior namespace :(
#include <behaviors/NormalBrake.hpp>
#include <behaviors/Hover.hpp>
#include <behaviors/Ground.hpp>
#include <behaviors/TakeOff.hpp>
#include <behaviors/Land.hpp>
#include <behaviors/EmergencyLand.hpp>

using namespace telekyb_behavior;

namespace TELEKYB_NAMESPACE {

class SystemBehaviorContainer : public BehaviorContainer {
protected:
        // map
        std::map<std::string, Behavior*> systemBehaviorMap;

        NormalBrake* normalBrake;
        Hover* hover;
        Ground* ground;
        EmergencyLand* emergencyLand;

        // These are never interfaced by the controller.
        //TakeOff* takeOff;
        //Land* land;

        // called by Constructor. Loads System Behaviors.
        void loadSystemBehaviors();

        // Overwrite to use Map
        Behavior* loadBehavior(const std::string& behaviorClassName);

public:
        SystemBehaviorContainer();
        virtual ~SystemBehaviorContainer();

        // Accessor System Behaviors
        NormalBrake* getNormalBrake() const;
        Hover* getHover() const;
        Ground* getGround() const;
        EmergencyLand* getEmergencyLand() const;
        //TakeOff* getTakeOff() const;
        //Land* getLand() const;

        Behavior* getBehaviorByName(const std::string& behaviorClassName) const;
};

} /* namespace telekyb */
#endif /* SYSTEMBEHAVIORCONTAINER_HPP_ */