Fawkes API  Fawkes Development Version
sleep_action_executor.h
1 /***************************************************************************
2  * sleep_action_executor.h - A simple sleep action
3  *
4  * Created: Tue 12 Nov 2019 14:09:55 CET 14:09
5  * Copyright 2019 Till Hofmann <hofmann@kbsg.rwth-aachen.de>
6  ****************************************************************************/
7 
8 /* This program is free software; you can redistribute it and/or modify
9  * it under the terms of the GNU General Public License as published by
10  * the Free Software Foundation; either version 2 of the License, or
11  * (at your option) any later version.
12  *
13  * This program is distributed in the hope that it will be useful,
14  * but WITHOUT ANY WARRANTY; without even the implied warranty of
15  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16  * GNU Library General Public License for more details.
17  *
18  * Read the full text in the LICENSE.GPL file in the doc directory.
19  */
20 
21 #pragma once
22 
23 #include "action_executor.h"
24 
25 #include <condition_variable>
26 #include <future>
27 #include <list>
28 #include <mutex>
29 
30 namespace fawkes {
31 
32 namespace gpp {
33 
35 {
36 public:
37  SleepActionExecutor(Logger *logger);
38  virtual ~SleepActionExecutor();
39  void start(std::shared_ptr<gologpp::Activity> activity) override;
40  void stop(std::shared_ptr<gologpp::Grounding<gologpp::Action>> activity) override;
41  bool can_execute_activity(std::shared_ptr<gologpp::Activity> activity) const override;
42 
43 private:
44  std::list<std::future<void>> running_sleeps_;
45  std::mutex cancel_mutex_;
46  std::condition_variable wait_cond_;
47 };
48 
49 } // namespace gpp
50 } // namespace fawkes
Interface for logging.
Definition: logger.h:42
Abstract class to execute a Golog++ activity.
A Golog++ action executor that just sleeps for a certain amount of time.
void start(std::shared_ptr< gologpp::Activity > activity) override
Start the given activity.
bool can_execute_activity(std::shared_ptr< gologpp::Activity > activity) const override
Determine if this executor can execute the given activity.
void stop(std::shared_ptr< gologpp::Grounding< gologpp::Action >> activity) override
Stop the given activity.
SleepActionExecutor(Logger *logger)
Constructor.
Fawkes library namespace.