behaviour_manager.h

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// Behaviour Control Framework - BehaviourManager class
// Author: Philipp Allgeuer <pallgeuer@ais.uni-bonn.de>

// Ensure header is only included once
#ifndef BEHAVIOUR_MANAGER_H
#define BEHAVIOUR_MANAGER_H

// Includes
#include <behaviour_control/classes/behaviour_common.h>

// Behaviour control namespace
namespace behaviourcontrol
{
    class BehaviourManager
    {
    public:
        // Constants
        static const index_t DEF_LLIST_CAPACITY; 
        static const std::string DEF_MANAGER_NAME; 

        // Constructors
        explicit BehaviourManager(const std::string& name = nullString); 
        virtual ~BehaviourManager(); 

        // Constant properties
        const std::string name; 

        // Initialisation functions
    public:
        ret_t initialiseArchitecture(); 
        bool wasInitialised() const { return initialised; } 
        bool isInitialising() const { return initialising; } 
    protected:
        virtual ret_t init() { return RET_OK; } 
    private:
        ret_t initBase(); 
        bool initialised; 
        bool initialising; 

        // Step functions
    public:
        void step(); 
        int cycleID() const { return icycleID; } 
    protected:
        virtual void preStepCallback() {} 
        virtual void postStepCallback() {} 
    private:
        int icycleID; 

        // Error notification functions
    public:
        void reportError(const std::string& msg, bool fatal, const std::string& funcName, const std::string& fileName, int line); 
        virtual void reportErrorUser(const std::string& msg, bool fatal, const std::string& funcName, const std::string& fileName, int line) {} 
        void clearErrorStatus(); 
        bool hadError() const { return fatalErrorOccurred; } 
        bool hadWarning() const { return nonfatalErrorOccurred; } 
    private:
        bool fatalErrorOccurred; 
        bool nonfatalErrorOccurred; 

    public:
        // Helper functions
        std::string toString(const std::string& linePrefix = nullString) const; 

        // Get functions
        const ActuatorBase* findActuator(const std::string& signalName) const; 
        BehaviourManager* getBasePtr() { return this; } 

    private:
        // Layer declaration function
        template <class LClass> void declareLayer(LClass* layer); 

        // Layer list
        std::vector<BehaviourLayer*> LList; 
        
        // Friend classes
        friend class BehaviourLayer;
        friend class SensorBase;
    };
}

#endif /* BEHAVIOUR_MANAGER_H */
// EOF