GlobalPlugin.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL, BIT
 */
 
#pragma once
 
#include <mc_control/mc_global_controller.h>
 
namespace mc_control
{
 
struct MC_CONTROL_DLLAPI GlobalPlugin
{
  virtual ~GlobalPlugin() = default;
 
  struct MC_CONTROL_DLLAPI GlobalPluginConfiguration
  {
    bool should_run_before = true;
    bool should_run_after = true;
    bool should_always_run = true;
  };
 
  virtual GlobalPluginConfiguration configuration() { return {}; }
 
  virtual void init(mc_control::MCGlobalController & controller, const mc_rtc::Configuration & config) = 0;
 
  virtual void reset(mc_control::MCGlobalController & controller) = 0;
 
  virtual void before(mc_control::MCGlobalController & controller) = 0;
 
  virtual void after(mc_control::MCGlobalController & controller) = 0;
};
 
} // namespace mc_control
 
#ifdef WIN32
#  define GLOBAL_PLUGIN_API __declspec(dllexport)
#else
#  if __GNUC__ >= 4
#    define GLOBAL_PLUGIN_API __attribute__((visibility("default")))
#  else
#    define GLOBAL_PLUGIN_API
#  endif
#endif