FluxioControlNode.h

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#pragma once
 
#include <memory>
 
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
#include <RobotAPI/libraries/skills/core/aron/FluxioNode.aron.generated.h>
 
#include "FluxioNode.h"
#include "FluxioParameter.h"
 
namespace armarx
{
    namespace skills
    {
 
        enum class FluxioControlNodeType
        {
            UNKNOWN = 0,
            SPLITTER = 1,
            AND_MERGER = 2,
            LOOP_REPEAT = 3,
            LOOP_RETRY = 4
        };
 
        struct FluxioControlNode : public FluxioNode
        {
            FluxioControlNodeType controlType;
            std::map<std::string, FluxioParameter> parametersMap;
            std::experimental::observer_ptr<FluxioNode> slottedNode;
 
            std::optional<manager::dto::FluxioNode> toManagerIce() const override;
            std::optional<manager::arondto::FluxioNode> toAron() const override;
 
            static std::optional<FluxioControlNode>
            FromIce(const manager::dto::FluxioNode& i,
                    std::map<std::string, FluxioProfile>& profilesMap,
                    std::map<std::string, aron::type::ObjectPtr>& typesMap,
                    std::map<const std::string, const std::unique_ptr<FluxioNode>>& nodesMap);
            static std::optional<FluxioControlNode>
            FromAron(const manager::arondto::FluxioNode& i,
                     std::map<std::string, FluxioProfile>& profilesMap,
                     std::map<std::string, aron::type::ObjectPtr>& typesMap,
                     std::map<const std::string, const std::unique_ptr<FluxioNode>>& nodesMap);
            FluxioControlNodeType FluxioControlNodeTypeFromString(const std::string& type);
            std::optional<std::string>
            FluxioControlNodeTypeToString(const FluxioControlNodeType& type);
        };
    } // namespace skills
} // namespace armarx