actionExecutorInterface.h

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#ifndef ACTION_EXECUTOR_INTERFACE_H
#define ACTION_EXECUTOR_INTERFACE_H

#include "plan.h"
#include "symbolicState.h"
#include <deque>
#include <string>
#include <sstream>
#include <iostream>

namespace continual_planning_executive
{

    class ActionExecutorInterface
    {
        public:
            ActionExecutorInterface() {}
            virtual ~ActionExecutorInterface() {}

            virtual void initialize(const std::deque<std::string> & arguments) {}


            virtual bool canExecute(const DurativeAction & a, const SymbolicState & currentState) const = 0;


            virtual bool executeBlocking(const DurativeAction & a, SymbolicState & currentState) = 0;

            // TODO_TP non blocking call with progress ala action lib for temporal/parallel execution

            virtual void cancelAction() = 0;
    };

    inline bool splitNamedId(const string & namedId, string & name, int & id)
    {
        string::size_type foundIdx = namedId.find_first_of("0123456789");
        if(foundIdx == string::npos)
            return false;

        name = namedId.substr(0, foundIdx);

        std::stringstream ss(namedId.substr(foundIdx));
        ss >> id;
        return true;
    }

};

#endif