Program Listing for File SimpleNegotiator.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_TRAFFIC__AGV__NEGOTIATOR_HPP
#define RMF_TRAFFIC__AGV__NEGOTIATOR_HPP

#include <rmf_traffic/agv/Planner.hpp>
#include <rmf_traffic/schedule/Participant.hpp>
#include <rmf_traffic/schedule/Negotiator.hpp>

namespace rmf_traffic {
namespace agv {

//==============================================================================
class SimpleNegotiator : public schedule::Negotiator
{
public:

  class Options
  {
  public:

    static constexpr double DefaultMaxCostLeeway = 1.5;
    static constexpr double DefaultMinCostThreshold = 30.0;

    using ApprovalCallback =
      std::function<Responder::UpdateVersion(rmf_traffic::agv::Plan)>;

    Options(
      ApprovalCallback approval_cb = nullptr,
      std::shared_ptr<const bool> interrupt_flag = nullptr,
      std::optional<double> maximum_cost_leeway = DefaultMaxCostLeeway,
      std::optional<std::size_t> maximum_alts = std::nullopt,
      Duration min_hold_time = Planner::Options::DefaultMinHoldingTime);

    // TODO(MXG): The approval_callback option needs to be unit tested
    Options& approval_callback(ApprovalCallback cb);

    Options& interrupt_flag(std::shared_ptr<const bool> flag);

    const std::shared_ptr<const bool>& interrupt_flag() const;

    Options& maximum_cost_leeway(std::optional<double> leeway);

    std::optional<double> maximum_cost_leeway() const;

    Options& minimum_cost_threshold(std::optional<double> cost);

    std::optional<double> minimum_cost_threshold() const;

    Options& maximum_cost_threshold(std::optional<double> cost);

    std::optional<double> maximum_cost_threshold() const;

    Options& maximum_alternatives(rmf_utils::optional<std::size_t> num);

    std::optional<std::size_t> maximum_alternatives() const;

    Options& minimum_holding_time(Duration holding_time);

    Duration minimum_holding_time() const;

    class Implementation;
  private:
    rmf_utils::impl_ptr<Implementation> _pimpl;
  };

  SimpleNegotiator(
    schedule::Participant::AssignIDPtr assign_id,
    Planner::Start start,
    Planner::Goal goal,
    Planner::Configuration planner_configuration,
    Options options = Options());

  SimpleNegotiator(
    schedule::Participant::AssignIDPtr assign_id,
    std::vector<Planner::Start> starts,
    Planner::Goal goal,
    Planner::Configuration planner_configuration,
    Options options = Options());

  SimpleNegotiator(
    schedule::Participant::AssignIDPtr assign_id,
    std::vector<Planner::Start> starts,
    Planner::Goal goal,
    std::shared_ptr<const Planner> planner,
    Options options = Options());

  // TODO(MXG): Offer a constructor that accepts a Planner instance to benefit
  // from the cached heuristics.

  // Documentation inherited
  void respond(
    const schedule::Negotiation::Table::ViewerPtr& table_viewer,
    const ResponderPtr& responder) final;

  class Implementation;
  class Debug;
private:
  rmf_utils::impl_ptr<Implementation> _pimpl;
};

} // namespace agv
} // namespace rmf_traffic

#endif // RMF_TRAFFIC__AGV__NEGOTIATOR_HPP