Program Listing for File Route.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__ROUTE_HPP
#define RMF_TRAFFIC__ROUTE_HPP

#include <rmf_traffic/Trajectory.hpp>

#include <rmf_utils/impl_ptr.hpp>

#include <optional>
#include <set>
#include <map>
#include <unordered_map>

namespace rmf_traffic {

//==============================================================================
using RouteId = uint64_t;
using ParticipantId = uint64_t;
using CheckpointId = uint64_t;
using PlanId = uint64_t;

struct Dependency
{
  uint64_t on_participant;
  uint64_t on_plan;
  uint64_t on_route;
  uint64_t on_checkpoint;

  bool operator==(const Dependency& other) const;
};

using Dependencies = std::vector<Dependency>;

using DependsOnCheckpoint = std::map<CheckpointId, CheckpointId>;

using DependsOnRoute = std::unordered_map<RouteId, DependsOnCheckpoint>;

//==============================================================================
class DependsOnPlan
{
public:

  DependsOnPlan();

  DependsOnPlan(PlanId plan, DependsOnRoute routes);

  DependsOnPlan& plan(std::optional<PlanId> plan);

  std::optional<PlanId> plan() const;

  DependsOnPlan& routes(DependsOnRoute routes);

  DependsOnRoute& routes();

  const DependsOnRoute& routes() const;

  struct Dependency
  {
    RouteId on_route;
    CheckpointId on_checkpoint;
  };

  DependsOnPlan& add_dependency(
    CheckpointId dependent_checkpoint,
    Dependency dependency);

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

using DependsOnParticipant = std::unordered_map<ParticipantId, DependsOnPlan>;

//==============================================================================
class Route
{
public:

  Route(
    std::string map,
    Trajectory trajectory);

  Route& map(std::string value);

  const std::string& map() const;

  Route& trajectory(Trajectory value);

  Trajectory& trajectory();

  const Trajectory& trajectory() const;

  Route& checkpoints(std::set<uint64_t> value);

  std::set<uint64_t>& checkpoints();

  const std::set<uint64_t>& checkpoints() const;

  Route& dependencies(DependsOnParticipant value);

  DependsOnParticipant& dependencies();

  const DependsOnParticipant& dependencies() const;

  Route& add_dependency(
    CheckpointId dependent_checkpoint,
    Dependency dependency);

  bool should_ignore(ParticipantId participant, PlanId plan) const;

  const DependsOnCheckpoint* check_dependencies(
    ParticipantId on_participant,
    PlanId on_plan,
    RouteId on_route) const;

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

using RoutePtr = std::shared_ptr<Route>;
using ConstRoutePtr = std::shared_ptr<const Route>;

} // namespace rmf_traffic


#endif // RMF_TRAFFIC__SCHEDULDE__ROUTE_HPP