Program Listing for File Negotiation.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_ROS2__SCHEDULE__NEGOTIATION_HPP
#define RMF_TRAFFIC_ROS2__SCHEDULE__NEGOTIATION_HPP
#include <rclcpp/node.hpp>
#include <rmf_traffic/schedule/Negotiator.hpp>
#include <rmf_traffic/schedule/Participant.hpp>
#include <rmf_traffic/schedule/Snapshot.hpp>
#include <rmf_utils/impl_ptr.hpp>
namespace rmf_traffic_ros2 {
namespace schedule {
//==============================================================================
class Negotiation
{
public:
class Worker
{
public:
virtual void schedule(std::function<void()> job) = 0;
virtual ~Worker() = default;
};
Negotiation(
rclcpp::Node& node,
std::shared_ptr<const rmf_traffic::schedule::Snappable> viewer,
std::shared_ptr<Worker> worker = nullptr);
Negotiation& timeout_duration(rmf_traffic::Duration duration);
rmf_traffic::Duration timeout_duration() const;
using TableViewPtr = rmf_traffic::schedule::Negotiation::Table::ViewerPtr;
using ResponderPtr = rmf_traffic::schedule::Negotiator::ResponderPtr;
using StatusUpdateCallback =
std::function<void (uint64_t conflict_version, TableViewPtr table_view)>;
void on_status_update(StatusUpdateCallback cb);
using StatusConclusionCallback =
std::function<void (uint64_t conflict_version, bool success)>;
void on_conclusion(StatusConclusionCallback cb);
TableViewPtr table_view(
uint64_t conflict_version,
const std::vector<rmf_traffic::schedule::ParticipantId>& sequence) const;
void set_retained_history_count(uint count);
std::shared_ptr<void> register_negotiator(
rmf_traffic::schedule::ParticipantId for_participant,
std::unique_ptr<rmf_traffic::schedule::Negotiator> negotiator);
std::shared_ptr<void> register_negotiator(
rmf_traffic::schedule::ParticipantId for_participant,
std::unique_ptr<rmf_traffic::schedule::Negotiator> negotiator,
std::function<void()> on_negotiation_failure);
std::shared_ptr<void> register_negotiator(
rmf_traffic::schedule::ParticipantId for_participant,
std::function<void(TableViewPtr view, ResponderPtr responder)> respond,
std::function<void()> on_negotiation_failure = nullptr);
class Implementation;
private:
rmf_utils::unique_impl_ptr<Implementation> _pimpl;
};
} // namespace schedule
} // namespace rmf_traffic_ros2
#endif // RMF_TRAFFIC_ROS2__SCHEDULE__NEGOTIATION_HPP