.. _program_listing_file__tmp_ws_src_rmf_task_rmf_task_sequence_include_rmf_task_sequence_Event.hpp:

Program Listing for File Event.hpp
==================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_task_rmf_task_sequence_include_rmf_task_sequence_Event.hpp>` (``/tmp/ws/src/rmf_task/rmf_task_sequence/include/rmf_task_sequence/Event.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_SEQUENCE__EVENT_HPP
   #define RMF_TASK_SEQUENCE__EVENT_HPP
   
   #include <rmf_task/Constraints.hpp>
   #include <rmf_task/Parameters.hpp>
   #include <rmf_task/Estimate.hpp>
   #include <rmf_task/Event.hpp>
   
   #include <rmf_task/detail/Resume.hpp>
   
   #include <rmf_task_sequence/Activity.hpp>
   
   #include <nlohmann/json.hpp>
   
   namespace rmf_task_sequence {
   
   //==============================================================================
   class Event : public rmf_task::Event
   {
   public:
   
     // Event::Active simply uses the Activity::Active API
     class Active;
     using ActivePtr = std::shared_ptr<Active>;
   
     // Event::Description simply uses the Activity::Description API
     using Description = Activity::Description;
     using ConstDescriptionPtr = std::shared_ptr<const Description>;
   
     class Standby;
     using StandbyPtr = std::shared_ptr<Standby>;
   
     class Initializer;
     using InitializerPtr = std::shared_ptr<Initializer>;
     using ConstInitializerPtr = std::shared_ptr<const Initializer>;
   };
   
   //==============================================================================
   class Event::Standby
   {
   public:
   
     virtual ConstStatePtr state() const = 0;
   
     virtual rmf_traffic::Duration duration_estimate() const = 0;
   
     virtual ActivePtr begin(
       std::function<void()> checkpoint,
       std::function<void()> finished) = 0;
   
     // Virtual destructor
     virtual ~Standby() = default;
   };
   
   //==============================================================================
   class Event::Active : public Activity::Active
   {
   public:
   
     virtual ConstStatePtr state() const = 0;
   
     virtual rmf_traffic::Duration remaining_time_estimate() const = 0;
   
     // Virtual destructor
     virtual ~Active() = default;
   };
   
   //==============================================================================
   class Event::Initializer
   {
   public:
   
     Initializer();
   
     template<typename Description>
     using Initialize =
       std::function<
       StandbyPtr(
         const AssignIDPtr& id,
         const std::function<rmf_task::State()>& get_state,
         const ConstParametersPtr& parameters,
         const Description& description,
         std::function<void()> update)
       >;
   
     template<typename Description>
     using Restore =
       std::function<
       ActivePtr(
         const AssignIDPtr& id,
         const std::function<rmf_task::State()>& get_state,
         const ConstParametersPtr& parameters,
         const Description& description,
         const nlohmann::json& backup_state,
         std::function<void()> update,
         std::function<void()> checkpoint,
         std::function<void()> finished)
       >;
   
     template<typename Desc>
     void add(
       Initialize<Desc> initializer,
       Restore<Desc> restorer);
   
     StandbyPtr initialize(
       const AssignIDPtr& id,
       const std::function<rmf_task::State()>& get_state,
       const ConstParametersPtr& parameters,
       const Event::Description& description,
       std::function<void()> update) const;
   
     ActivePtr restore(
       const AssignIDPtr& id,
       const std::function<rmf_task::State()>& get_state,
       const ConstParametersPtr& parameters,
       const Event::Description& description,
       const nlohmann::json& backup,
       std::function<void()> update,
       std::function<void()> checkpoint,
       std::function<void()> finished) const;
   
     class Implementation;
   private:
     void _add(
       std::type_index type,
       Initialize<Event::Description> initializer,
       Restore<Event::Description> restorer);
   
     rmf_utils::impl_ptr<Implementation> _pimpl;
   };
   
   } // namespace rmf_task_sequence
   
   #include <rmf_task_sequence/detail/impl_Event.hpp>
   
   #endif // RMF_TASK_SEQUENCE__EVENT_HPP