.. _program_listing_file__tmp_ws_src_rmf_traffic_rmf_traffic_include_rmf_traffic_blockade_Moderator.hpp:

Program Listing for File Moderator.hpp
======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_traffic_rmf_traffic_include_rmf_traffic_blockade_Moderator.hpp>` (``/tmp/ws/src/rmf_traffic/rmf_traffic/include/rmf_traffic/blockade/Moderator.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__BLOCKADE__MODERATOR_HPP
   #define RMF_TRAFFIC__BLOCKADE__MODERATOR_HPP
   
   #include <rmf_utils/impl_ptr.hpp>
   
   #include <rmf_traffic/blockade/Writer.hpp>
   
   namespace rmf_traffic {
   namespace blockade {
   
   //==============================================================================
   class Moderator : public Writer
   {
   public:
   
     //============================================================================
     // Writer API
     //============================================================================
   
     // Documentation inherited
     void set(
       ParticipantId participant_id,
       ReservationId reservation_id,
       const Reservation& reservation) final;
   
     // Documentation inherited
     void ready(
       ParticipantId participant_id,
       ReservationId reservation_id,
       CheckpointId checkpoint) final;
   
     // Documentation inherited
     void release(
       ParticipantId participant_id,
       ReservationId reservation_id,
       CheckpointId checkpoint) final;
   
     // Documentation inherited
     void reached(
       ParticipantId participant_id,
       ReservationId reservation_id,
       CheckpointId checkpoint) final;
   
     // Documentation inherited
     void cancel(
       ParticipantId participant_id,
       ReservationId reservation_id) final;
   
     // Documentation inherited
     void cancel(ParticipantId participant_id) final;
   
   
     //============================================================================
     // Moderator API
     //============================================================================
   
     Moderator(
       std::function<void(std::string)> info_logger = nullptr,
       std::function<void(std::string)> debug_logger = nullptr,
       double min_conflict_angle = 5.0* M_PI/180.0);
   
     double minimum_conflict_angle() const;
   
     Moderator& minimum_conflict_angle(double new_value);
   
     Moderator& info_logger(std::function<void(std::string)> info);
   
     Moderator& debug_logger(std::function<void(std::string)> debug);
   
     class Assignments
     {
     public:
   
       std::size_t version() const;
   
       const std::unordered_map<ParticipantId, ReservedRange>& ranges() const;
   
       class Implementation;
     private:
       Assignments();
       rmf_utils::impl_ptr<Implementation> _pimpl;
     };
   
     const Assignments& assignments() const;
   
     const std::unordered_map<ParticipantId, Status>& statuses() const;
   
     bool has_gridlock() const;
   
     class Implementation;
   private:
     rmf_utils::impl_ptr<Implementation> _pimpl;
   };
   
   } // namespace blockade
   } // namespace rmf_traffic
   
   #endif // RMF_TRAFFIC__BLOCKADE__MODERATOR_HPP