Class Activator

Class Documentation

class Activator

A factory for generating Task::Active instances from requests.

Public Types

template<typename Description>
using Activate = std::function<Task::ActivePtr(const std::function<State()> &get_state, const ConstParametersPtr &parameters, const Task::ConstBookingPtr &booking, const Description &description, std::optional<std::string> backup_state, std::function<void(Phase::ConstSnapshotPtr)> update, std::function<void(Task::Active::Backup)> checkpoint, std::function<void(Phase::ConstCompletedPtr)> phase_finished, std::function<void()> task_finished)>

Signature for activating a task

Template Parameters:

Description – A class that implements the Task::Description interface

Param get_state:

[in] A callback for retrieving the current state of the robot

Param parameters:

[in] A reference to the parameters for the robot

Param booking:

[in] An immutable reference to the booking information for the task

Param description:

[in] The down-casted description of the task

Param backup_state:

[in] The serialized backup state of the Task, if the Task is being restored from a crash or disconnection. If the Task is not being restored, a std::nullopt will be passed in here.

Param update:

[in] A callback that will be triggered when the task has a significant update in its status.

Param checkpoint:

[in] A callback that will be triggered when the task has reached a task checkpoint whose state is worth backing up.

Param finished:

[in] A callback that will be triggered when the task has finished.

Return:

an active, running instance of the requested task.

Public Functions

Activator()

Construct an empty TaskFactory.

template<typename Description>
void add_activator(Activate<Description> activator)

Add a callback to convert from a Description into an active Task.

Template Parameters:

Description – A class that implements the Request::Description interface

Parameters:

activator – [in] A callback that activates a Task matching the Description

Task::ActivePtr activate(const std::function<State()> &get_state, const ConstParametersPtr &parameters, const Request &request, std::function<void(Phase::ConstSnapshotPtr)> update, std::function<void(Task::Active::Backup)> checkpoint, std::function<void(Phase::ConstCompletedPtr)> phase_finished, std::function<void()> task_finished) const

Activate a Task object based on a Request.

Parameters:

  • get_state – [in] A callback for retrieving the current state of the robot

  • parameters – [in] A reference to the parameters for the robot

  • request – [in] The task request

  • update – [in] A callback that will be triggered when the task has a significant update

  • checkpoint – [in] A callback that will be triggered when the task has reached a task checkpoint whose state is worth backing up.

  • phase_finished – [in] A callback that will be triggered whenever a task phase is finished

  • task_finished – [in] A callback that will be triggered when the task has finished

Returns:

an active, running instance of the requested task.

Task::ActivePtr restore(const std::function<State()> &get_state, const ConstParametersPtr &parameters, const Request &request, std::string backup_state, std::function<void(Phase::ConstSnapshotPtr)> update, std::function<void(Task::Active::Backup)> checkpoint, std::function<void(Phase::ConstCompletedPtr)> phase_finished, std::function<void()> task_finished) const

Restore a Task that crashed or disconnected.

Parameters:

  • get_state – [in] A callback for retrieving the current state of the robot

  • parameters – [in] A reference to the parameters for the robot

  • request – [in] The task request

  • backup_state – [in] The serialized backup state of the Task

  • update – [in] A callback that will be triggered when the task has a significant update

  • checkpoint – [in] A callback that will be triggered when the task has reached a task checkpoint whose state is worth backing up.

  • phase_finished – [in] A callback that will be triggered whenever a task phase is finished

  • task_finished – [in] A callback that will be triggered when the task has finished

Returns:

an active, running instance of the requested task.