Program Listing for File Rectifier.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__RECTIFIER_HPP
#define RMF_TRAFFIC__SCHEDULE__RECTIFIER_HPP

#include <rmf_traffic/schedule/Itinerary.hpp>
#include <rmf_traffic/schedule/ParticipantDescription.hpp>

namespace rmf_traffic {
namespace schedule {

//==============================================================================
class Rectifier
{
public:

  // TODO(MXG): Consider if there might be a good way to merge the functionality
  // of this Range struct with the Inconsistency::Ranges::Range struct.

  struct Range
  {
    ItineraryVersion lower;

    ItineraryVersion upper;
  };

  void retransmit(
    const std::vector<Range>& ranges,
    ItineraryVersion last_known_itinerary,
    ProgressVersion last_known_progress);

  void correct_id(ParticipantId new_id);

  std::optional<ItineraryVersion> current_version() const;

  std::optional<ParticipantId> get_id() const;

  std::optional<ParticipantDescription> get_description() const;

  class Implementation;
private:
  Rectifier();
  rmf_utils::unique_impl_ptr<Implementation> _pimpl;
};

//==============================================================================
class RectificationRequester
{
public:

  virtual ~RectificationRequester() = 0;
};

//==============================================================================
class RectificationRequesterFactory
{
public:

  virtual std::unique_ptr<RectificationRequester> make(
    Rectifier rectifier,
    ParticipantId participant_id) = 0;

  // virtual destructor
  virtual ~RectificationRequesterFactory() = default;

};

//==============================================================================
// Forward declaration for DatabaseRectificationRequesterFactory
class Database;

//==============================================================================
class DatabaseRectificationRequesterFactory
  : public RectificationRequesterFactory
{
public:

  DatabaseRectificationRequesterFactory(std::shared_ptr<Database> database);

  // Documentation inherited
  std::unique_ptr<RectificationRequester> make(
    Rectifier rectifier,
    ParticipantId participant_id) final;

  void rectify();

  void change_database(std::shared_ptr<Database> new_database);

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

} // namespace schedule
} // namespace rmf_traffic

#endif // RMF_TRAFFIC__SCHEDULE__RECTIFIER_HPP