PluginSymbolicLog.h

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#ifndef __PLUGIN_SYMBOLIC_LOG_H__
#define __PLUGIN_SYMBOLIC_LOG_H__


#define PLUGIN_CLASS PluginSymbolicLog


// System
#include <cstdlib>
#include <iostream>

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

// Designators
#include <designators/CDesignator.h>
#include <designator_integration_msgs/DesignatorCommunication.h>

// Private
#include <Types.h>
#include <ForwardDeclarations.h>
#include <Plugin.h>
#include <Node.h>


namespace beliefstate {
  namespace plugins {
    class PLUGIN_CLASS : public Plugin {
    private:
      std::list<Node*> m_lstNodes;
      std::list<Node*> m_lstRootNodes;
      Node* m_ndActive;
      std::list<Node*> m_lstNodeStack;
      std::list< std::pair<std::string, std::string> > m_lstDesignatorIDs;
      std::list< std::pair<std::string, std::string> > m_lstDesignatorEquations;
      std::list< std::pair<std::string, std::string> > m_lstDesignatorEquationTimes;
      std::pair<std::string, Node*> m_prLastFailure;
      std::map<std::string, Node*> m_mapFailureCatchers;
      std::map<int, Node*> m_mapNodeIDs;
      
    public:
      PLUGIN_CLASS();
      ~PLUGIN_CLASS();
      
      virtual Result init(int argc, char** argv);
      virtual Result deinit();
      
      virtual Result cycle();
      
      virtual void consumeEvent(Event evEvent);
      virtual Event consumeServiceEvent(ServiceEvent seServiceEvent);
      
      Node* addNode(std::string strName, int nContextID, Node* ndParent = NULL);
      void setNodeAsActive(Node* ndActive);
      Node* activeNode();
      
      std::string getDesignatorID(std::string strMemoryAddress);
      std::string getDesignatorIDType(CDesignator* desigCurrent);
      std::string getUniqueDesignatorID(std::string strMemoryAddress, CDesignator* desigCurrent);
      std::string generateRandomIdentifier(std::string strPrefix, unsigned int unLength);
      std::string equateDesignators(std::string strMAChild, CDesignator* desigChild, std::string strMAParent, CDesignator* desigParent);
      
      bool ensureDesignatorPublished(std::list<CKeyValuePair*> lstDescription, std::string strMemoryAddress, std::string strType, std::string strAnnotation = "", bool bAdd = false, Node* ndRelative = NULL);
      void setNestedDesignatorUniqueIDs(CKeyValuePair* ckvpParent);
      
      CDesignator* makeDesignator(enum DesignatorType edtType, list<CKeyValuePair*> lstDescription);
      CDesignator* makeDesignator(std::string strType, list<CKeyValuePair*> lstDescription);
      
      Node* nodeByID(int nID);
      Node* relativeActiveNode(Event evEvent);
    };
  }
  
  extern "C" plugins::PLUGIN_CLASS* createInstance();
  extern "C" void destroyInstance(plugins::PLUGIN_CLASS* icDestroy);
}


#endif /* __PLUGIN_SYMBOLIC_LOG_H__ */