concurrence.hpp

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// Copyright (C) 2025 Georgia Tech Research Institute
// Supported by USDA-NIFA CSIAPP Grant. No. 2023-70442-39232
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
#ifndef YASMIN__CONCURRENCE_HPP_
#define YASMIN__CONCURRENCE_HPP_
 
#include <atomic>
#include <mutex>
#include <string>
#include <thread>
 
#include "yasmin/blackboard.hpp"
#include "yasmin/state.hpp"
#include "yasmin/types.hpp"
 
namespace yasmin {

class Concurrence : public State {
 
protected:
  const StateMap states;

  const std::string default_outcome;

  OutcomeMap outcome_map;

  StateOutcomeMap intermediate_outcome_map;

  Outcomes possible_outcomes;
  ParameterMappingsMap parameter_mappings;
 
private:
  std::mutex intermediate_outcome_mutex;

  std::atomic_bool configured{false};

  void apply_parameter_mappings(const std::string &state_name,
                                const State::SharedPtr &state);

  static Outcomes
  generate_possible_outcomes(const OutcomeMap &outcome_map,
                             const std::string &default_outcome);
 
public:
  YASMIN_PTR_ALIASES(Concurrence)
 
  
  Concurrence(const StateMap &states, const std::string &default_outcome,
              const OutcomeMap &outcome_map,
              const ParameterMappingsMap &parameter_mappings = {});

  void set_parameter_mappings(const std::string &state_name,
                              const ParameterMappings &parameter_mappings);

  const ParameterMappingsMap &get_parameter_mappings() const noexcept;

  void configure() override;

  std::string execute(Blackboard::SharedPtr blackboard) override;

  void cancel_state() override;

  const StateMap &get_states() const noexcept;

  const OutcomeMap &get_outcome_map() const noexcept;

  const std::string &get_default_outcome() const noexcept;

  std::string to_string() const override;
};
 
} // namespace yasmin
 
#endif // YASMIN__CONCURRENCE_HPP_