Program Listing for File Patch.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__SCHEDULE__PATCH_HPP
#define RMF_TRAFFIC__SCHEDULE__PATCH_HPP

#include <rmf_traffic/schedule/Change.hpp>

#include <rmf_traffic/detail/bidirectional_iterator.hpp>

#include <rmf_utils/optional.hpp>

namespace rmf_traffic {
namespace schedule {

//==============================================================================
class Patch
{
public:

  template<typename E, typename I, typename F>
  using base_iterator = rmf_traffic::detail::bidirectional_iterator<E, I, F>;

  class Participant
  {
  public:

    Participant(
      ParticipantId id,
      ItineraryVersion itinerary_version,
      Change::Erase erasures,
      std::vector<Change::Delay> delays,
      Change::Add additions,
      std::optional<Change::Progress> progress);

    ParticipantId participant_id() const;

    ItineraryVersion itinerary_version() const;

    const Change::Erase& erasures() const;

    //
    // TODO(MXG): Why don't we sum these delays into one value since they all
    // get applied at the same time anyway? They were originally split because
    // we used to allow delays to be applied to partial trajectories, but that
    // is no longer allowed.
    const std::vector<Change::Delay>& delays() const;

    const Change::Add& additions() const;

    const std::optional<Change::Progress>& progress() const;

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

  class IterImpl;
  using const_iterator = base_iterator<const Participant, IterImpl, Patch>;

  Patch(
    std::vector<Participant> changes,
    rmf_utils::optional<Change::Cull> cull,
    std::optional<Version> base_version,
    Version latest_version);

  const_iterator begin() const;

  const_iterator end() const;

  std::size_t size() const;

  const Change::Cull* cull() const;

  std::optional<Version> base_version() const;

  Version latest_version() const;

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

} // namespace schedule

namespace detail {

extern template class bidirectional_iterator<
    const schedule::Patch::Participant,
    schedule::Patch::IterImpl,
    schedule::Patch
>;

}

} // namespace rmf_traffic

#endif // RMF_TRAFFIC__SCHEDULE__PATCH_HPP