Program Listing for File Activity.hpp

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/*
 * 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__ACTIVITY_HPP
#define RMF_TASK_SEQUENCE__ACTIVITY_HPP

#include <rmf_task/detail/Resume.hpp>
#include <rmf_task/Header.hpp>

#include <rmf_task_sequence/detail/Backup.hpp>
#include <rmf_task_sequence/typedefs.hpp>

namespace rmf_task_sequence {

//==============================================================================
class Activity
{
public:

  class Active;

  class Description;
  using ConstDescriptionPtr = std::shared_ptr<const Description>;

  class Model;
  using ConstModelPtr = std::shared_ptr<const Model>;

  class SequenceModel;
};

//==============================================================================
class Activity::Active
{
public:

  using Backup = detail::Backup;

  virtual Backup backup() const = 0;

  using Resume = rmf_task::detail::Resume;

  virtual Resume interrupt(std::function<void()> task_is_interrupted) = 0;

  virtual void cancel() = 0;

  virtual void kill() = 0;

  // Virtual destructor
  virtual ~Active() = default;
};

//==============================================================================
class Activity::Description
{
public:

  virtual ConstModelPtr make_model(
    State invariant_initial_state,
    const Parameters& parameters) const = 0;

  virtual Header generate_header(
    const State& initial_state,
    const Parameters& parameters) const = 0;

  // Virtual destructor
  virtual ~Description() = default;
};

//==============================================================================
class Activity::Model
{
public:

  virtual std::optional<Estimate> estimate_finish(
    State initial_state,
    rmf_traffic::Time earliest_arrival_time,
    const Constraints& constraints,
    const TravelEstimator& travel_estimator) const = 0;

  virtual rmf_traffic::Duration invariant_duration() const = 0;

  virtual State invariant_finish_state() const = 0;

  // Virtual destructor
  virtual ~Model() = default;
};

//==============================================================================
class Activity::SequenceModel : public Activity::Model
{
public:

  static ConstModelPtr make(
    const std::vector<ConstDescriptionPtr>& descriptions,
    State invariant_initial_state,
    const Parameters& parameters);

  // Documentation inherited
  std::optional<rmf_task::Estimate> estimate_finish(
    State initial_state,
    rmf_traffic::Time earliest_arrival_time,
    const Constraints& constraints,
    const TravelEstimator& travel_estimator) const final;

  // Documentation inherited
  rmf_traffic::Duration invariant_duration() const final;

  // Documentation inherited
  State invariant_finish_state() const final;

  class Implementation;
private:
  SequenceModel();
  rmf_utils::unique_impl_ptr<Implementation> _pimpl;
};

} // namespace rmf_task_sequence

#endif // RMF_TASK_SEQUENCE__ACTIVITY_HPP