Program Listing for File Participant.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__SCHEDULE__PARTICIPANT_HPP
#define RMF_TRAFFIC__SCHEDULE__PARTICIPANT_HPP

#include <rmf_traffic/schedule/ParticipantDescription.hpp>
#include <rmf_traffic/schedule/Writer.hpp>
#include <rmf_traffic/schedule/Rectifier.hpp>

#include <rmf_utils/AssignID.hpp>

#include <unordered_set>

namespace rmf_traffic {
namespace schedule {

//==============================================================================
class Participant
{
public:

  using PlanId = Writer::PlanId;

  bool set(PlanId plan, std::vector<Route> itinerary);

  std::optional<Duration> cumulative_delay(PlanId plan) const;

  bool cumulative_delay(
    PlanId plan,
    Duration delay,
    Duration tolerance = Duration(0));

  [[deprecated("Use cumulative_delay instead")]]
  void delay(Duration delay);

  [[deprecated("Use cumulative_delay instead")]]
  Duration delay() const;

  void reached(PlanId plan, RouteId route, CheckpointId checkpoint);

  const std::vector<CheckpointId>& reached() const;

  void clear();

  const Itinerary& itinerary() const;

  //
  // TODO(MXG): This function needs to be unit tested.
  ItineraryVersion version() const;

  ProgressVersion progress_version() const;

  const ParticipantDescription& description() const;

  ParticipantId id() const;

  using AssignIDPtr = std::shared_ptr<const rmf_utils::AssignID<PlanId>>;

  const AssignIDPtr& plan_id_assigner() const;

  PlanId assign_plan_id() const;

  PlanId current_plan_id() const;

  void change_profile(Profile new_profile);

  // This class supports moving but not copying
  Participant(Participant&&) = default;
  Participant& operator=(Participant&&) = default;

  ~Participant() = default;

  class Implementation;
  class Debug;
private:
  // The constructor for this class is private. It should only be constructed
  // using make_participant
  Participant();
  rmf_utils::unique_impl_ptr<Implementation> _pimpl;
};

//==============================================================================
Participant make_participant(
  ParticipantDescription description,
  std::shared_ptr<Writer> writer,
  std::shared_ptr<RectificationRequesterFactory> rectifier_factory = nullptr);

} // namespace schedule
} // namespace rmf_traffic

#endif // RMF_TRAFFIC__SCHEDULE__PARTICIPANT_HPP