Program Listing for File impl_Activator.hpp
↰ Return to documentation for file (/tmp/ws/src/rmf_task/rmf_task/include/rmf_task/detail/impl_Activator.hpp
)
/*
* 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__DETAIL__IMPL_ACTIVATOR_HPP
#define RMF_TASK__DETAIL__IMPL_ACTIVATOR_HPP
#include <rmf_task/Activator.hpp>
namespace rmf_task {
//==============================================================================
template<typename Description>
void Activator::add_activator(Activate<Description> activator)
{
_add_activator(
typeid(Description),
[activator](
std::function<State()> get_state,
const ConstParametersPtr& parameters,
const Task::ConstBookingPtr& booking,
const Task::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) -> Task::ActivePtr
{
return activator(
std::move(get_state),
parameters,
booking,
static_cast<const Description&>(description),
std::move(backup_state),
std::move(update),
std::move(checkpoint),
std::move(phase_finished),
std::move(task_finished));
});
}
} // namespace rmf_task
#endif // RMF_TASK__DETAIL__IMPL_ACTIVATOR_HPP