/**
 * File: strategyLambda.h
 *
 * Author: Brad Neuman
 * Created: 2017-11-30
 *
 * Description: A StateConceptStrategy that is implemented as a lmabda. This one cannot be created (solely)
 *              from config, it must be created in code. This can be useful to use the existing infrastructure
 *              and framework with a custom hard-coded strategy
 *
 * Copyright: Anki, Inc. 2017
 *
 **/

#ifndef __Engine_AiComponent_StateConceptStrategies_ConditionLambda_H__
#define __Engine_AiComponent_StateConceptStrategies_ConditionLambda_H__

#include "engine/aiComponent/beiConditions/iBEICondition.h"

namespace Anki {
namespace Vector {

class ConditionLambda : public IBEICondition
{
public:

  using VisionModeSet = std::set<VisionModeRequest>;
  
  // NOTE: this strategy takes no config, because it can't be data defined
  ConditionLambda(std::function<bool(BehaviorExternalInterface& bei)> areConditionsMetFunc,
                  const std::string& ownerDebugLabel);

  // Alternative constructor for Lambda's which have VisionModeRequirements
  ConditionLambda(std::function<bool(BehaviorExternalInterface& bei)> areConditionsMetFunc,
                  const VisionModeSet& requiredVisionModes,
                  const std::string& ownerDebugLabel);

  // Alternative constructor for Lambda's with specialized Active State
  ConditionLambda(std::function<bool(BehaviorExternalInterface& bei)> areConditionsMetFunc,
                  std::function<void(BehaviorExternalInterface& bei, bool setActive)> setActiveFunc,
                  const std::string& ownerDebugLabel);

  // Alternative constructor for Lambda's with specialized Active State AND VisionModeRequirements
  ConditionLambda(std::function<bool(BehaviorExternalInterface& bei)> areConditionsMetFunc,
                  std::function<void(BehaviorExternalInterface& bei, bool setActive)> setActiveFunc,
                  const VisionModeSet& requiredVisionModes,
                  const std::string& ownerDebugLabel);

protected:

  bool AreConditionsMetInternal(BehaviorExternalInterface& behaviorExternalInterface) const override;

  virtual void SetActiveInternal(BehaviorExternalInterface& bei, bool setActive) override;

  virtual void GetRequiredVisionModes(VisionModeSet& requests) const override;

private:

  std::function<bool(BehaviorExternalInterface& bei)> _lambda;
  std::function<void(BehaviorExternalInterface& bei, bool setActive)> _setActiveFunc;
  VisionModeSet _requiredVisionModes;

};

}
}



#endif