.. _program_listing_file__tmp_ws_src_rmf_task_rmf_task_include_rmf_task_Phase.hpp:

Program Listing for File Phase.hpp
==================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_task_rmf_task_include_rmf_task_Phase.hpp>` (``/tmp/ws/src/rmf_task/rmf_task/include/rmf_task/Phase.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (C) 2021 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_TASK__PHASE_HPP
   #define RMF_TASK__PHASE_HPP
   
   #include <rmf_task/Event.hpp>
   #include <rmf_task/Header.hpp>
   
   #include <rmf_traffic/Time.hpp>
   
   #include <rmf_utils/impl_ptr.hpp>
   
   #include <memory>
   
   namespace rmf_task {
   
   //==============================================================================
   class Phase
   {
   public:
   
     class Tag;
     using ConstTagPtr = std::shared_ptr<const Tag>;
   
     class Completed;
     using ConstCompletedPtr = std::shared_ptr<const Completed>;
   
     class Active;
     using ConstActivePtr = std::shared_ptr<const Active>;
   
     class Snapshot;
     using ConstSnapshotPtr = std::shared_ptr<const Snapshot>;
   
     class Pending;
   };
   
   //==============================================================================
   class Phase::Tag
   {
   public:
   
     using Id = uint64_t;
   
     Tag(Id id_, Header header_);
   
     Id id() const;
   
     const Header& header() const;
   
     class Implementation;
   private:
     rmf_utils::impl_ptr<Implementation> _pimpl;
   };
   
   //==============================================================================
   class Phase::Completed
   {
   public:
   
     Completed(
       ConstSnapshotPtr snapshot_,
       rmf_traffic::Time start_,
       rmf_traffic::Time finish_);
   
     const ConstSnapshotPtr& snapshot() const;
   
     rmf_traffic::Time start_time() const;
   
     rmf_traffic::Time finish_time() const;
   
     class Implementation;
   private:
     rmf_utils::impl_ptr<Implementation> _pimpl;
   };
   
   //==============================================================================
   class Phase::Active
   {
   public:
   
     virtual ConstTagPtr tag() const = 0;
   
     virtual Event::ConstStatePtr final_event() const = 0;
   
     virtual rmf_traffic::Duration estimate_remaining_time() const = 0;
   
     // Virtual destructor
     virtual ~Active() = default;
   };
   
   //==============================================================================
   class Phase::Snapshot : public Phase::Active
   {
   public:
   
     static ConstSnapshotPtr make(const Active& active);
   
     // Documentation inherited
     ConstTagPtr tag() const final;
   
     // Documentation inherited
     Event::ConstStatePtr final_event() const final;
   
     // Documentation inherited
     rmf_traffic::Duration estimate_remaining_time() const final;
   
     class Implementation;
   private:
     Snapshot();
     rmf_utils::impl_ptr<Implementation> _pimpl;
   };
   
   //==============================================================================
   class Phase::Pending
   {
   public:
   
     Pending(ConstTagPtr tag);
   
     const ConstTagPtr& tag() const;
   
     Pending& will_be_skipped(bool value);
   
     bool will_be_skipped() const;
   
     class Implementation;
   private:
     rmf_utils::impl_ptr<Implementation> _pimpl;
   };
   
   } // namespace rmf_task
   
   #endif // RMF_TASK__PHASE_HPP