CommandFollowEntity.h

Go to the documentation of this file.

//
//  CommandFollowEntity.h
//  ConscienceRobotManager
//
//  Created by Max Lhermitte on 15/02/2023.
//  Copyright © 2023 IliesZaoui. All rights reserved.
//
 
#ifndef CommandFollowEntity_h
#define CommandFollowEntity_h
 
#include "Command.h"
#include "Parser/CscCommandAutoParse.h"
#include "Result/CommandResultSpec.h"
 
enum FollowRequestType {
    FollowRequestType_START = 0,
    FollowRequestType_STOP = 1
};
 
namespace conscience_core::bridging::commands {
 
struct CSC_DLL_IMPORTEXPORT CommandFollowEntityParams {
public:
    ptr<CscEntityReflexion> masterReference;
    ptr<CscEntityReflexion> entitySlaveReflexion;
    float angle;
    float distance;
    float height;
    int knowledgeId;
    FollowRequestType requestType;
 
        inline static const CommandTypeId COMMAND_ID = "FOLLOW_ENTITY";
    CommandFollowEntityParams() = default;
    CommandFollowEntityParams(const ptr<CscEntityReflexion> &masterReference, ptr<CscEntityReflexion> entitySlaveReflexion, float angle, float distance, float height, int knowledgeId, FollowRequestType requestType)
        : masterReference(masterReference),
          entitySlaveReflexion(entitySlaveReflexion),
          angle(angle),
          distance(distance),
          height(height),
          knowledgeId(knowledgeId),
          requestType(requestType) {}
 
    ~CommandFollowEntityParams() {
    }
 
    string toString() const {
        return "FollowEntityParams: masterThere=" + boolToString(masterReference != nullptr) + " slaveThere=" + boolToString(entitySlaveReflexion != nullptr) + " angle=" + to_string(angle) + " distance=" + to_string(distance) + " height=" + to_string(height) + " knowledgeId=" + to_string(knowledgeId) + " requestType=" + to_string(requestType);
    }
};
 
struct CSC_DLL_IMPORTEXPORT CommandFollowEntityResultStatus {
    int status;
};
struct CSC_DLL_IMPORTEXPORT CommandFollowEntityResult {
    string message;
    bool success;
    CommandFollowEntityResultStatus *status;
};
 
class CSC_DLL_IMPORTEXPORT CommandFollowEntity : public CscCommand {
 
public:
    inline static const CommandTypeId COMMAND_ID = "FOLLOW_ENTITY";
 
    CommandFollowEntity(ptr<CommandFollowEntityParams> params);
 
    ptr<CscEntityReflexion> getMasterReflexion() const;
    ptr<CscEntityReflexion> getEntitySlaveReflexion() const;
    const FollowRequestType getFollowRequestType() const;
 
protected:
    const CscCommandExecutionResultObject<CommandFollowEntityResult> *doExecute(CscEnvironmentSimulator &environmentSimulator) override;
    ptr<CscEntityReflexion> getEntityReflexion() const override;
    const CscState *getCurrentState() const;
 
private:
    ptr<CscEntityReflexion> masterReference;
    ptr<CscEntityReflexion> entitySlaveReflexion;
    const float angle;
    const float distance;
    const float height;
    const int knowledgeId;
    const CscState *currentState;
    FollowRequestType requestType;
};
 
COMMAND_TYPE_BUILDER(CommandFollowEntity, CommandFollowEntityParams, ptr<CscEntityReflexion>, ptr<CscEntityReflexion>, float, float, float, const int, FollowRequestType)
COMMAND_REGISTER(CommandFollowEntity, ptr<CommandFollowEntityParams>)
COMMAND_RESULT_JSON_SERIALIZER(CommandFollowEntityResultStatus, status)
COMMAND_RESULT_JSON_SERIALIZER(CommandFollowEntityResult, message, success, status)
 
}
#endif