SkillFactory.h

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#pragma once
 
#include <functional>
#include <memory>
#include <type_traits>
#include <utility>
 
#include <ArmarXCore/core/logging/LogSender.h>
 
#include <RobotAPI/libraries/skills/core/ProviderID.h>
#include <RobotAPI/libraries/skills/core/Skill.h>
#include <RobotAPI/libraries/skills/core/SkillDescription.h>
 
namespace armarx::skills
{
    class SkillBlueprint
    {
    public:
        using FunctionTypeToCreateSkill = std::function<std::unique_ptr<Skill>()>;
 
        SkillBlueprint(const FunctionTypeToCreateSkill& s);
        SkillBlueprint(FunctionTypeToCreateSkill&& 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,
                                                   MessageTypeT logLevel) const;
 
        virtual SkillDescription createSkillDescription(const skills::ProviderID& pid) const;
 
    protected:
        FunctionTypeToCreateSkill _createSkill;
    };
 
    template <class T>
    concept isSkillBlueprint = std::is_base_of<SkillBlueprint, T>::value;
 
} // namespace armarx::skills