algorithm_base.hpp

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#pragma once
 
#include <rclcpp/rclcpp.hpp>
#include <string>
#include <fp_perception_base/options.hpp>
#include <fp_perception_base/exceptions.hpp>
#include <fp_perception_base/driver_base.hpp>
 
namespace fp_perception
{
 
class AlgorithmBase
{
public:
  virtual ~AlgorithmBase() = default;
 
  virtual void initialize(const rclcpp::Node::SharedPtr& node)
  {
    initialize_base(node);
  }
 
  virtual void start() = 0;
 
  virtual void stop() = 0;
 
  virtual std::string getName() const
  {
    return config_.name;
  }
 
  void set_vision_driver(const std::shared_ptr<fp_perception::DriverBase>& vision_driver)
  {
    vision_driver_ = vision_driver;
  }
 
  void set_audio_input_driver(const std::shared_ptr<fp_perception::DriverBase>& audio_driver)
  {
    audio_input_driver_ = audio_driver;
  }
 
  void set_transcription_driver(const std::shared_ptr<fp_perception::DriverBase>& transcription_driver)
  {
    transcription_driver_ = transcription_driver;
  }
 
  void set_sentiment_driver(const std::shared_ptr<fp_perception::DriverBase>& sentiment_driver)
  {
    sentiment_driver_ = sentiment_driver;
  }
 
protected:
  void initialize_base(const rclcpp::Node::SharedPtr& node)
  {
    node_ = node;
  }
 
  rclcpp::Node::SharedPtr node_;
 
  algorithm_options config_;
 
  std::shared_ptr<fp_perception::DriverBase> vision_driver_;
 
  std::shared_ptr<fp_perception::DriverBase> audio_input_driver_;
 
  std::shared_ptr<fp_perception::DriverBase> transcription_driver_;
 
  std::shared_ptr<fp_perception::DriverBase> sentiment_driver_;
};
 
}  // namespace fp_perception