Program Listing for File StandardNames.hpp

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/*
 * Copyright (C) 2019 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_ROS2__STANDARDNAMES_HPP
#define RMF_TRAFFIC_ROS2__STANDARDNAMES_HPP

#include <string>

namespace rmf_traffic_ros2 {

const std::string Prefix = "rmf_traffic/";

const std::string HeartbeatTopicName = Prefix + "heartbeat";
const std::string ScheduleStartupTopicName = Prefix + "schedule_startup";
const std::string QueriesInfoTopicName = Prefix + "registered_queries";

const std::string ItinerarySetTopicName = Prefix + "itinerary_set";
const std::string ItineraryExtendTopicName = Prefix + "itinerary_extend";
const std::string ItineraryDelayTopicName = Prefix + "itinerary_delay";
const std::string ItineraryReachedTopicName = Prefix + "itinerary_reached";
const std::string ItineraryClearTopicName = Prefix + "itinerary_clear";
const std::string RegisterParticipantSrvName = Prefix + "register_participant";
const std::string UnregisterParticipantSrvName = Prefix +
  "unregister_participant";
const std::string RegisterQueryServiceName = Prefix + "register_query";
const std::string ParticipantsInfoTopicName = Prefix + "participants";
const std::string QueryUpdateTopicNameBase = Prefix + "query_update_";
const std::string RequestChangesServiceName = Prefix + "request_changes";
const std::string ScheduleInconsistencyTopicName = Prefix +
  "schedule_inconsistency";
const std::string NegotiationAckTopicName = Prefix +
  "negotiation_ack";
const std::string NegotiationRepeatTopicName = Prefix +
  "negotiation_repeat";
const std::string NegotiationNoticeTopicName = Prefix +
  "negotiation_notice";
const std::string NegotiationRefusalTopicName = Prefix +
  "negotiation_refusal";
const std::string NegotiationProposalTopicName = Prefix +
  "negotiation_proposal";
const std::string NegotiationRejectionTopicName = Prefix +
  "negotiation_rejection";
const std::string NegotiationForfeitTopicName = Prefix +
  "negotiation_forfeit";
const std::string NegotiationConclusionTopicName = Prefix +
  "negotiation_conclusion";
const std::string NegotiationStatesTopicName = Prefix +
  "negotiation_states";
const std::string NegotiationStatusesTopicName = Prefix +
  "negotiation_statuses";

const std::string BlockadeCancelTopicName = Prefix +
  "blockade_cancel";
const std::string BlockadeHeartbeatTopicName = Prefix +
  "blockade_heartbeat";
const std::string BlockadeReachedTopicName = Prefix +
  "blockade_reached";
const std::string BlockadeReadyTopicName = Prefix +
  "blockade_ready";
const std::string BlockadeReleaseTopicName = Prefix +
  "blockade_release";
const std::string BlockadeSetTopicName = Prefix +
  "blockade_set";

const std::string EmergencyTopicName = "fire_alarm_trigger";

} // namespace rmf_traffic_ros2

#endif // RMF_TRAFFIC_ROS2__STANDARDNAMES_HPP