.. _program_listing_file__tmp_ws_src_rmf_task_rmf_task_sequence_include_rmf_task_sequence_Phase.hpp:

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

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_task_rmf_task_sequence_include_rmf_task_sequence_Phase.hpp>` (``/tmp/ws/src/rmf_task/rmf_task_sequence/include/rmf_task_sequence/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_SEQUENCE__PHASE_HPP
   #define RMF_TASK_SEQUENCE__PHASE_HPP
   
   #include <rmf_task/Phase.hpp>
   
   #include <rmf_task_sequence/Event.hpp>
   #include <rmf_task_sequence/typedefs.hpp>
   
   #include <rmf_task_sequence/Activity.hpp>
   
   namespace rmf_task_sequence {
   
   //==============================================================================
   class Phase : public rmf_task::Phase
   {
   public:
   
     // Declarations
     class Active;
     using ActivePtr = std::shared_ptr<Active>;
   
     class Activator;
     using ActivatorPtr = std::shared_ptr<Activator>;
     using ConstActivatorPtr = std::shared_ptr<const Activator>;
   
     class Description;
     using ConstDescriptionPtr = std::shared_ptr<const Description>;
   };
   
   //==============================================================================
   class Phase::Active :
     public rmf_task::Phase::Active,
     public Activity::Active {};
   
   //==============================================================================
   class Phase::Activator
   {
   public:
     Activator();
   
     template<typename Description>
     using Activate =
       std::function<
       ActivePtr(
         const std::function<State()>& get_state,
         const ConstParametersPtr& parameters,
         ConstTagPtr tag,
         const Description& description,
         std::optional<nlohmann::json> backup_state,
         std::function<void(rmf_task::Phase::ConstSnapshotPtr)> update,
         std::function<void(Active::Backup)> checkpoint,
         std::function<void()> finished)
       >;
   
     template<typename Description>
     void add_activator(Activate<Description> activator);
   
     ActivePtr activate(
       const std::function<State()>& get_state,
       const ConstParametersPtr& parameters,
       ConstTagPtr tag,
       const Description& description,
       std::optional<nlohmann::json> backup_state,
       std::function<void(rmf_task::Phase::ConstSnapshotPtr)> update,
       std::function<void(Active::Backup)> checkpoint,
       std::function<void()> finished) const;
   
     class Implementation;
   private:
   
     void _add_activator(
       std::type_index type,
       Activate<Phase::Description> activator);
   
     rmf_utils::impl_ptr<Implementation> _pimpl;
   };
   
   //==============================================================================
   class Phase::Description : public Activity::Description {};
   
   } // namespace rmf_task_sequence
   
   #include <rmf_task_sequence/detail/impl_Phase.hpp>
   
   #endif // RMF_TASK_SEQUENCE__PHASE_HPP