From bd6045a8a79a7923a85e8dcd9782e42ccd115102 Mon Sep 17 00:00:00 2001
From: isamu-takagi <43976882+isamu-takagi@users.noreply.github.com>
Date: Mon, 15 Feb 2021 11:03:32 +0900
Subject: [PATCH] Ros2 v0.8 scenario_conditions (#66)

---
 .../scenario_conditions/condition_base.hpp    | 37 ++++++++++++++-----
 1 file changed, 28 insertions(+), 9 deletions(-)

diff --git a/condition/scenario_conditions/include/scenario_conditions/condition_base.hpp b/condition/scenario_conditions/include/scenario_conditions/condition_base.hpp
index 6c7d8131..8e404551 100644
--- a/condition/scenario_conditions/include/scenario_conditions/condition_base.hpp
+++ b/condition/scenario_conditions/include/scenario_conditions/condition_base.hpp
@@ -15,12 +15,14 @@
 #ifndef SCENARIO_CONDITIONS_CONDITION_BASE_H_INCLUDED
 #define SCENARIO_CONDITIONS_CONDITION_BASE_H_INCLUDED
 
+#include <boost/lexical_cast.hpp>
+#include <boost/property_tree/ptree.hpp>
 #include <yaml-cpp/yaml.h>
 
 #include "scenario_api/scenario_api_core.hpp"
 #include "scenario_intersection/intersection_manager.hpp"
-
-#include <sstream>
+#include "scenario_utility/indentation.hpp"
+#include <limits>
 
 namespace scenario_conditions
 {
@@ -30,12 +32,9 @@ class ConditionBase
   ConditionBase() = default;
 
   ConditionBase(const std::string & type)
-  : type_{type}
-  {
-    std::stringstream ss;
-    ss << type << "Condition<" << static_cast<const void *>(this) << ">";
-    name_ = ss.str();
-  }
+    : type_ { type }
+    , name_ {}
+  {}
 
   virtual ~ConditionBase() = default;
 
@@ -47,10 +46,28 @@ class ConditionBase
 
   const std::string & getName() const noexcept {return name_;}
 
-  bool getResult() const noexcept {return result_;}
+  const std::string& description() const noexcept { return description_; }
+
+  const auto& rename(const std::string& new_name)
+  {
+    return name_ = new_name;
+  }
+
+  bool getResult() const noexcept { return result_; }
 
   const std::string & getType() const noexcept {return type_;}
 
+  auto property() const
+  {
+    boost::property_tree::ptree result {};
+
+    result.put("Name", getName());
+    result.put("Value", description());
+    result.put("Result", getResult());
+
+    return result;
+  }
+
 protected:
   std::shared_ptr<ScenarioAPI> api_ptr_;
   YAML::Node node_;
@@ -59,6 +76,8 @@ class ConditionBase
   bool keep_ = false;
   bool result_ = false;
 
+  std::string description_;
+
   std::string type_;
   std::string name_;
 };