Program Listing for File ParticipantRegistry.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_ROS2__PARTICIPANT_REGISTRY_HPP
#define RMF_TRAFFIC_ROS2__PARTICIPANT_REGISTRY_HPP


#include <rmf_traffic_ros2/Profile.hpp>
#include <rmf_traffic_ros2/geometry/ConvexShape.hpp>
#include <rmf_traffic/schedule/Database.hpp>
#include <string>
#include <yaml-cpp/yaml.h>
#include <unordered_map>

namespace rmf_traffic_ros2 {
namespace schedule {

using Database = rmf_traffic::schedule::Database;
using ParticipantId = rmf_traffic::schedule::ParticipantId;
using ParticipantDescription = rmf_traffic::schedule::ParticipantDescription;

//=============================================================================
struct AtomicOperation
{
  enum class OpType : uint8_t
  {
    Add = 0,
    Update = 1
  };
  OpType operation;
  ParticipantDescription description;
};

//=============================================================================
class AbstractParticipantLogger
{
public:
  virtual void write_operation(AtomicOperation operation) = 0;

  virtual std::optional<AtomicOperation> read_next_record() = 0;

  virtual ~AbstractParticipantLogger() = default;
};

//=============================================================================
class YamlLogger : public AbstractParticipantLogger
{
public:
  YamlLogger(std::string filename);

  void write_operation(AtomicOperation operation) override;

  std::optional<AtomicOperation> read_next_record() override;

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

//=============================================================================
class ParticipantRegistry
{
public:
  ParticipantRegistry(
    std::unique_ptr<AbstractParticipantLogger> logger,
    std::shared_ptr<Database> database);

  using Registration = rmf_traffic::schedule::Writer::Registration;

  Registration add_or_retrieve_participant(ParticipantDescription description);

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

} // namespace schedule
} // namespace rmf_traffic_ros2

#endif