Program Listing for File Rectifier.hpp

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/*
 * 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__RECTIFIER_HPP
#define RMF_TRAFFIC__BLOCKADE__RECTIFIER_HPP

#include <rmf_traffic/blockade/Status.hpp>

#include <rmf_utils/impl_ptr.hpp>

namespace rmf_traffic {
namespace blockade {

//==============================================================================
class Rectifier
{
public:

  void check(const Status& status);

  void check();

  class Implementation;
private:
  Rectifier();
  rmf_utils::unique_impl_ptr<Implementation> _pimpl;
};

//==============================================================================
class RectificationRequester
{
public:

  virtual ~RectificationRequester() = 0;
};

//==============================================================================
class RectificationRequesterFactory
{
public:

  virtual std::unique_ptr<RectificationRequester> make(
    Rectifier rectifier,
    ParticipantId participant_id) = 0;

  // virtual destructor
  virtual ~RectificationRequesterFactory() = default;

};

//==============================================================================
// Forward declaration for ModeratorRectificationRequesterFactory
class Moderator;

//==============================================================================
class ModeratorRectificationRequesterFactory
  : public RectificationRequesterFactory
{
public:

  ModeratorRectificationRequesterFactory(std::shared_ptr<Moderator> moderator);

  // Documentation inherited
  std::unique_ptr<RectificationRequester> make(
    Rectifier rectifier,
    ParticipantId participant_id) final;

  void rectify();

  class Implementation;
private:
  rmf_utils::unique_impl_ptr<Implementation> _pimpl;
};


} // namespace blockade
} // namespace rmf_traffic

#endif // RMF_TRAFFIC__BLOCKADE__RECTIFIER_HPP