Program Listing for File AsyncBidder.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_TASK_ROS2__BIDDING__ASYNCBIDDER_HPP
#define RMF_TASK_ROS2__BIDDING__ASYNCBIDDER_HPP

#include <unordered_set>

#include <rclcpp/node.hpp>
#include <rmf_utils/impl_ptr.hpp>

#include <rmf_task_ros2/bidding/Response.hpp>

namespace rmf_task_ros2 {
namespace bidding {

//==============================================================================
class AsyncBidder
{
public:

  using Respond = std::function<void(const Response&)>;

  using ReceiveNotice =
    std::function<void(const BidNoticeMsg& notice, Respond respond)>;

  static std::shared_ptr<AsyncBidder> make(
    const std::shared_ptr<rclcpp::Node>& node,
    ReceiveNotice notice_cb);

  class Implementation;

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

} // namespace bidding
} // namespace rmf_task_ros2

#endif // RMF_TASK_ROS2__BIDDING__ASYNCBIDDER_HPP