Program Listing for File impl_Bundle.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__EVENTS__DETAIL__IMPL_BUNDLE_HPP
#define RMF_TASK_SEQUENCE__EVENTS__DETAIL__IMPL_BUNDLE_HPP
#include <rmf_task_sequence/events/Bundle.hpp>
namespace rmf_task_sequence {
namespace events {
//==============================================================================
template<typename OtherDesc>
void Bundle::unfold(
const UnfoldDescription<OtherDesc>& unfold_description,
Event::Initializer& add_to,
const Event::ConstInitializerPtr& initialize_from)
{
add_to.add<OtherDesc>(
[initialize_from, unfold_description](
const AssignIDPtr& id,
const std::function<rmf_task::State()>& get_state,
const ConstParametersPtr& parameters,
const OtherDesc& description,
std::function<void()> update)
{
return initiate(
*initialize_from,
id,
get_state,
parameters,
unfold_description(description),
std::move(update));
},
[initialize_from, unfold_description](
const AssignIDPtr& id,
const std::function<rmf_task::State()>& get_state,
const ConstParametersPtr& parameters,
const OtherDesc& description,
const nlohmann::json& backup_state,
std::function<void()> update,
std::function<void()> checkpoint,
std::function<void()> finished)
{
return restore(
*initialize_from,
id,
get_state,
parameters,
unfold_description(description),
backup_state,
std::move(update),
std::move(checkpoint),
std::move(finished));
});
}
} // namespace events
} // namespace rmf_task_sequence
#endif // RMF_TASK_SEQUENCE__EVENTS__DETAIL__IMPL_BUNDLE_HPP