SkillFactory.h

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#pragma once
 
#include <tuple>
 
#include <RobotAPI/libraries/skills/core/Skill.h>
 
namespace armarx
{
    namespace skills
    {
        class SkillBlueprint
        {
        public:
            using FunctionTypeToCreateSkill = std::function<std::unique_ptr<Skill>()>;
 
            SkillBlueprint(const FunctionTypeToCreateSkill& s) : _createSkill(s)
            {
            }
 
            SkillBlueprint(FunctionTypeToCreateSkill&& s) : _createSkill(std::move(s))
            {
            }
 
            SkillBlueprint(const SkillBlueprint&) = default;
 
            virtual ~SkillBlueprint() = default;
 
            template <class _Skill, class... Args>
            requires isSkill<_Skill>
 
            static std::unique_ptr<SkillBlueprint>
            ForSkill(Args&&... args)
            {
                auto _createSkill = [=]()
                {
                    auto ptr = std::make_unique<_Skill>(args...);
                    return ptr;
                };
 
                auto ret = std::make_unique<SkillBlueprint>(std::move(_createSkill));
                return ret;
            }
 
            virtual std::unique_ptr<Skill>
            createSkill(const skills::ProviderID& pid) const
            {
                auto s = _createSkill();
                s->setProviderId(pid);
                return s;
            }
 
            virtual SkillDescription
            createSkillDescription(const skills::ProviderID& pid) const
            {
                auto s = createSkill(pid);
                return s->getSkillDescription();
            }
 
 
        protected:
            FunctionTypeToCreateSkill _createSkill;
        };
 
        template <class T>
        concept isSkillBlueprint = std::is_base_of<SkillBlueprint, T>::value;
 
    } // namespace skills
} // namespace armarx