ArAction.h

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#ifndef ARACTION_H
#define ARACTION_H

#include "ariaTypedefs.h"
#include "ArArg.h"
#include "ArActionDesired.h"
#include <map>
#include <string>

class ArRobot;

class ArAction
{
public:
  AREXPORT ArAction(const char * name, const char * description = "");
  AREXPORT virtual ~ArAction();
  AREXPORT virtual bool isActive(void) const;
  AREXPORT virtual void activate(void);
  AREXPORT virtual void deactivate(void);

  AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired) = 0;
  AREXPORT virtual void setRobot(ArRobot *robot);
  AREXPORT virtual int getNumArgs(void) const;
#ifndef SWIG

  AREXPORT virtual const ArArg *getArg(int number) const;
#endif // SWIG

  AREXPORT virtual ArArg *getArg(int number);
  AREXPORT virtual const char *getName(void) const;
  AREXPORT virtual const char *getDescription(void) const;
  AREXPORT virtual ArActionDesired *getDesired(void) { return NULL; }
  AREXPORT virtual const ArActionDesired *getDesired(void) const { return NULL; }
  AREXPORT virtual void log(bool verbose = true) const;

  AREXPORT ArRobot* getRobot() const { return myRobot; }

protected:  
  AREXPORT void setNextArgument(ArArg const &arg);

  ArRobot *myRobot;

  // These are mostly for internal use by ArAction, not subclasses:
  bool myIsActive;
  int myNumArgs;
  std::map<int, ArArg> myArgumentMap;
  std::string myName;
  std::string myDescription;
};


#endif //ARACTION_H

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