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