Program Listing for File AsyncBidder.hpp
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/*
* 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_TASK_ROS2__BIDDING__ASYNCBIDDER_HPP
#define RMF_TASK_ROS2__BIDDING__ASYNCBIDDER_HPP
#include <unordered_set>
#include <rclcpp/node.hpp>
#include <rmf_utils/impl_ptr.hpp>
#include <rmf_task_ros2/bidding/Response.hpp>
namespace rmf_task_ros2 {
namespace bidding {
//==============================================================================
class AsyncBidder
{
public:
using Respond = std::function<void(const Response&)>;
using ReceiveNotice =
std::function<void(const BidNoticeMsg& notice, Respond respond)>;
static std::shared_ptr<AsyncBidder> make(
const std::shared_ptr<rclcpp::Node>& node,
ReceiveNotice notice_cb);
class Implementation;
private:
AsyncBidder();
rmf_utils::unique_impl_ptr<Implementation> _pimpl;
};
} // namespace bidding
} // namespace rmf_task_ros2
#endif // RMF_TASK_ROS2__BIDDING__ASYNCBIDDER_HPP