.. _program_listing_file__tmp_ws_src_rmf_traffic_rmf_traffic_include_rmf_traffic_blockade_Writer.hpp:

Program Listing for File Writer.hpp
===================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_traffic_rmf_traffic_include_rmf_traffic_blockade_Writer.hpp>` (``/tmp/ws/src/rmf_traffic/rmf_traffic/include/rmf_traffic/blockade/Writer.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (C) 2020 Open Source Robotics Foundation
    *
    * Licensed under the Apache License, Version 2.0 (the "License");
    * you may not use this file except in compliance with the License.
    * You may obtain a copy of the License at
    *
    *     http://www.apache.org/licenses/LICENSE-2.0
    *
    * Unless required by applicable law or agreed to in writing, software
    * distributed under the License is distributed on an "AS IS" BASIS,
    * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    * See the License for the specific language governing permissions and
    * limitations under the License.
    *
   */
   
   #ifndef RMF_TRAFFIC__BLOCKADE__WRITER_HPP
   #define RMF_TRAFFIC__BLOCKADE__WRITER_HPP
   
   #include <vector>
   #include <Eigen/Geometry>
   
   #include <rmf_traffic/Time.hpp>
   #include <rmf_traffic/blockade/Status.hpp>
   
   #include <rmf_utils/impl_ptr.hpp>
   
   namespace rmf_traffic {
   namespace blockade {
   
   //==============================================================================
   class Writer
   {
   public:
   
     struct Checkpoint
     {
       Eigen::Vector2d position;
       std::string map_name;
       bool can_hold;
     };
   
     struct Reservation
     {
       std::vector<Checkpoint> path;
       double radius;
     };
   
     virtual void set(
       ParticipantId participant_id,
       ReservationId reservation_id,
       const Reservation& reservation) = 0;
   
     virtual void ready(
       ParticipantId participant_id,
       ReservationId reservation_id,
       CheckpointId checkpoint) = 0;
   
     virtual void release(
       ParticipantId participant_id,
       ReservationId reservation_id,
       CheckpointId checkpoint) = 0;
   
     virtual void reached(
       ParticipantId participant_id,
       ReservationId reservation_id,
       CheckpointId checkpoint) = 0;
   
     virtual void cancel(
       ParticipantId participant_id,
       ReservationId reservation_id) = 0;
   
     virtual void cancel(ParticipantId participant_id) = 0;
   
     virtual ~Writer() = default;
   };
   
   } // namespace blockade
   } // namespace rmf_traffic
   
   #endif // RMF_TRAFFIC__BLOCKADE__WRITER_HPP