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