Program Listing for File StubbornNegotiator.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__STUBBORNNEGOTIATOR_HPP
#define RMF_TRAFFIC__SCHEDULE__STUBBORNNEGOTIATOR_HPP

#include <rmf_traffic/schedule/Negotiator.hpp>

namespace rmf_traffic {
namespace schedule {

//==============================================================================
class StubbornNegotiator : public Negotiator
{
public:

  StubbornNegotiator(const Participant& participant);

  StubbornNegotiator(std::shared_ptr<const Participant> participant);

  using UpdateVersion = rmf_utils::optional<ItineraryVersion>;

  StubbornNegotiator& acceptable_waits(
    std::vector<Duration> wait_times,
    std::function<UpdateVersion(Duration wait_time)> approval_cb = nullptr);

  StubbornNegotiator& additional_margins(
    std::vector<rmf_traffic::Duration> margins);

  void respond(
    const schedule::Negotiation::Table::ViewerPtr& table_viewer,
    const ResponderPtr& responder) final;

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

} // namespace schedule
} // namespace rmf_traffic

#endif // RMF_TRAFFIC__SCHEDULE__STUBBORNNEGOTIATOR_HPP