Program Listing for File Phase.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__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