Program Listing for File Writer.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__WRITER_HPP
#define RMF_TRAFFIC_ROS2__SCHEDULE__WRITER_HPP
#include <rmf_traffic/schedule/Writer.hpp>
#include <rmf_traffic/schedule/Participant.hpp>
#include <rclcpp/node.hpp>
namespace rmf_traffic_ros2 {
namespace schedule {
//==============================================================================
class Writer : public std::enable_shared_from_this<Writer>
{
public:
static std::shared_ptr<Writer> make(
const std::shared_ptr<rclcpp::Node>& node);
bool ready() const;
void wait_for_service() const;
bool wait_for_service(rmf_traffic::Time stop) const;
std::future<rmf_traffic::schedule::Participant> make_participant(
rmf_traffic::schedule::ParticipantDescription description);
void async_make_participant(
rmf_traffic::schedule::ParticipantDescription description,
std::function<void(rmf_traffic::schedule::Participant)> ready_callback);
class Implementation;
private:
Writer();
rmf_utils::unique_impl_ptr<Implementation> _pimpl;
};
using WriterPtr = std::shared_ptr<Writer>;
} // namespace schedule
} // namespace rmf_traffic_ros2
#endif // RMF_TRAFFIC_ROS2__SCHEDULE__WRITER_HPP