.. _program_listing_file__tmp_ws_src_rmf_traffic_rmf_traffic_include_rmf_traffic_agv_RouteValidator.hpp:

Program Listing for File RouteValidator.hpp
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_traffic_rmf_traffic_include_rmf_traffic_agv_RouteValidator.hpp>` (``/tmp/ws/src/rmf_traffic/rmf_traffic/include/rmf_traffic/agv/RouteValidator.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (C) 2020 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_TRAFFIC__AGV__ROUTEVALIDATOR_HPP
   #define RMF_TRAFFIC__AGV__ROUTEVALIDATOR_HPP
   
   #include <rmf_traffic/schedule/Viewer.hpp>
   #include <rmf_traffic/schedule/Negotiation.hpp>
   
   #include <rmf_utils/clone_ptr.hpp>
   
   namespace rmf_traffic {
   namespace agv {
   
   //==============================================================================
   class RouteValidator
   {
   public:
   
     using ParticipantId = schedule::ParticipantId;
     using Route = rmf_traffic::Route;
   
     struct Conflict
     {
       Dependency dependency;
       Time time;
       std::shared_ptr<const rmf_traffic::Route> route;
     };
   
     //
     // TODO(MXG): It would be better to implement this as a coroutine generator so
     // that clients of this interface can decide whether they only care about the
     // first conflict or if they want to know all of the conflicts. This is not a
     // high priority because in the vast majority of cases when a conflict happens
     // it will only be with one participant. And since this is only meant to
     // provide a hint about which participant is causing conflicts, it is okay if
     // other participants are ignored.
     virtual std::optional<Conflict> find_conflict(
       const Route& route) const = 0;
   
     virtual std::unique_ptr<RouteValidator> clone() const = 0;
   
     virtual ~RouteValidator() = default;
   };
   
   //==============================================================================
   class ScheduleRouteValidator : public RouteValidator
   {
   public:
   
     ScheduleRouteValidator(
       const schedule::Viewer& viewer,
       schedule::ParticipantId participant_id,
       Profile profile);
   
     ScheduleRouteValidator(
       std::shared_ptr<const schedule::Viewer> viewer,
       schedule::ParticipantId participant_id,
       Profile profile);
   
     template<typename... Args>
     static rmf_utils::clone_ptr<ScheduleRouteValidator> make(Args&& ... args)
     {
       return rmf_utils::make_clone<ScheduleRouteValidator>(
         std::forward<Args>(args)...);
     }
   
     ScheduleRouteValidator& schedule_viewer(const schedule::Viewer& viewer);
   
     const schedule::Viewer& schedule_viewer() const;
   
     ScheduleRouteValidator& participant(schedule::ParticipantId p);
   
     schedule::ParticipantId participant() const;
   
     // TODO(MXG): Make profile setters and getters
   
     // Documentation inherited
     std::optional<Conflict> find_conflict(const Route& route) const final;
   
     // Documentation inherited
     std::unique_ptr<RouteValidator> clone() const final;
   
     class Implementation;
   private:
     rmf_utils::impl_ptr<Implementation> _pimpl;
   };
   
   //==============================================================================
   class NegotiatingRouteValidator : public RouteValidator
   {
   public:
   
     class Generator
     {
     public:
   
       Generator(
         schedule::Negotiation::Table::ViewerPtr viewer,
         rmf_traffic::Profile profile);
   
       Generator(schedule::Negotiation::Table::ViewerPtr viewer);
   
       Generator& ignore_unresponsive(bool val = true);
   
       Generator& ignore_bystanders(bool val = true);
   
       NegotiatingRouteValidator begin() const;
   
       std::vector<rmf_utils::clone_ptr<NegotiatingRouteValidator>> all() const;
   
       const std::vector<schedule::ParticipantId>& alternative_sets() const;
   
       std::size_t alternative_count(schedule::ParticipantId participant) const;
   
       class Implementation;
     private:
       rmf_utils::impl_ptr<Implementation> _pimpl;
     };
   
     NegotiatingRouteValidator& mask(schedule::ParticipantId id);
   
     NegotiatingRouteValidator& remove_mask();
   
     NegotiatingRouteValidator next(schedule::ParticipantId id) const;
   
     const schedule::Negotiation::VersionedKeySequence& alternatives() const;
   
     operator bool() const;
   
     bool end() const;
   
     // Documentation inherited
     rmf_utils::optional<Conflict> find_conflict(const Route& route) const final;
   
     // Documentation inherited
     std::unique_ptr<RouteValidator> clone() const final;
   
     class Implementation;
   private:
     NegotiatingRouteValidator();
     rmf_utils::impl_ptr<Implementation> _pimpl;
   };
   
   } // namespace agv
   } // namespace rmf_traffic
   
   #endif // RMF_TRAFFIC__AGV__ROUTEVALIDATOR_HPP