.. _program_listing_file__tmp_ws_src_rmf_traffic_rmf_traffic_include_rmf_traffic_schedule_Negotiator.hpp:

Program Listing for File Negotiator.hpp
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_traffic_rmf_traffic_include_rmf_traffic_schedule_Negotiator.hpp>` (``/tmp/ws/src/rmf_traffic/rmf_traffic/include/rmf_traffic/schedule/Negotiator.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__SCHEDULE__NEGOTIATOR_HPP
   #define RMF_TRAFFIC__SCHEDULE__NEGOTIATOR_HPP
   
   #include <rmf_traffic/schedule/Negotiation.hpp>
   
   namespace rmf_traffic {
   namespace schedule {
   
   //==============================================================================
   class Negotiator
   {
   public:
   
     using TableViewerPtr = Negotiation::Table::ViewerPtr;
   
     class Responder
     {
     public:
   
       using ParticipantId = rmf_traffic::schedule::ParticipantId;
       using ItineraryVersion = rmf_traffic::schedule::ItineraryVersion;
       using UpdateVersion = rmf_utils::optional<ItineraryVersion>;
       using ApprovalCallback = std::function<UpdateVersion()>;
       using Alternatives = Negotiation::Alternatives;
   
       virtual void submit(
         PlanId plan_id,
         std::vector<Route> itinerary,
         ApprovalCallback approval_callback = nullptr) const = 0;
   
       virtual void reject(const Alternatives& alternatives) const = 0;
   
       virtual void forfeit(const std::vector<ParticipantId>& blockers) const = 0;
   
       // Virtual destructor
       virtual ~Responder() = default;
     };
   
     using ResponderPtr = std::shared_ptr<const Responder>;
   
     virtual void respond(
       const TableViewerPtr& table_viewer,
       const ResponderPtr& responder) = 0;
   
     virtual ~Negotiator() = default;
   };
   
   //==============================================================================
   class SimpleResponder : public Negotiator::Responder
   {
   public:
   
     using ApprovalMap =
       std::unordered_map<
       Negotiation::ConstTablePtr,
       std::function<UpdateVersion()>
       >;
   
     using BlockerSet = std::unordered_set<schedule::ParticipantId>;
   
     SimpleResponder(
       const Negotiation::TablePtr& table,
       std::vector<schedule::ParticipantId>* report_blockers = nullptr);
   
     SimpleResponder(
       const Negotiation::TablePtr& table,
       std::shared_ptr<ApprovalMap> approval_map,
       std::shared_ptr<BlockerSet> blockers);
   
     template<typename... Args>
     static std::shared_ptr<SimpleResponder> make(Args&& ... args)
     {
       return std::make_shared<SimpleResponder>(std::forward<Args>(args)...);
     }
   
     // Documentation inherited
     // NOTE: approval_callback does not get used
     void submit(
       PlanId plan_id,
       std::vector<Route> itinerary,
       std::function<UpdateVersion()> approval_callback = nullptr) const final;
   
     // Documentation inherited
     void reject(
       const Negotiation::Alternatives& alternatives) const final;
   
     // Documentation inherited
     void forfeit(const std::vector<ParticipantId>& blockers) const final;
   
     const std::vector<ParticipantId>& blockers() const;
   
     class Implementation;
   private:
     rmf_utils::impl_ptr<Implementation> _pimpl;
   };
   
   } // namespace schedule
   } // namespace rmf_traffic
   
   #endif // RMF_TRAFFIC__SCHEDULE__NEGOTIATOR_HPP