Program Listing for File Task.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__TASK_HPP
#define RMF_TASK_SEQUENCE__TASK_HPP
#include <rmf_task/Request.hpp>
#include <rmf_task/Task.hpp>
#include <rmf_task/Activator.hpp>
#include <rmf_task_sequence/Phase.hpp>
#include <rmf_task_sequence/typedefs.hpp>
namespace rmf_task_sequence {
//==============================================================================
class Task : public rmf_task::Task
{
public:
// Declaration
class Builder;
// Declaration
class Active;
// Declaration
class Description;
using DescriptionPtr = std::shared_ptr<Description>;
using ConstDescriptionPtr = std::shared_ptr<const Description>;
class Model;
using Update = std::function<void(Phase::ConstSnapshotPtr snapshot)>;
using PhaseFinished = std::function<void(Phase::ConstCompletedPtr)>;
using TaskFinished = std::function<void()>;
static rmf_task::Activator::Activate<Description> make_activator(
Phase::ConstActivatorPtr phase_activator,
std::function<rmf_traffic::Time()> clock);
static void add(
rmf_task::Activator& activator,
Phase::ConstActivatorPtr phase_activator,
std::function<rmf_traffic::Time()> clock);
template<typename OtherDesc>
static void unfold(
std::function<Description(const OtherDesc&)> unfold_description,
rmf_task::Activator& activator,
Phase::ConstActivatorPtr phase_activator,
std::function<rmf_traffic::Time()> clock);
};
//==============================================================================
class Task::Builder
{
public:
Builder();
Builder& add_phase(
Phase::ConstDescriptionPtr description,
std::vector<Phase::ConstDescriptionPtr> cancellation_sequence);
std::shared_ptr<Description> build(
std::string category,
std::string detail);
class Implementation;
private:
rmf_utils::impl_ptr<Implementation> _pimpl;
};
//==============================================================================
class Task::Description : public rmf_task::Task::Description
{
public:
// Documentation inherited
Task::ConstModelPtr make_model(
rmf_traffic::Time earliest_start_time,
const Parameters& parameters) const final;
// Documentation inherited
Info generate_info(
const State& initial_state,
const Parameters& parameters) const final;
const std::string& category() const;
Description& category(std::string new_category);
const std::string& detail() const;
Description& detail(std::string new_detail);
Header generate_header(
const State& initial_state,
const Parameters& parameters) const;
class Implementation;
private:
Description();
rmf_utils::impl_ptr<Implementation> _pimpl;
};
} // namespace rmf_task_sequence
#include <rmf_task_sequence/detail/impl_Task.hpp>
#endif // RMF_TASK_SEQUENCE__TASK_HPP