Program Listing for File transaction.hpp

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#ifndef FUSE_CORE__TRANSACTION_HPP_
#define FUSE_CORE__TRANSACTION_HPP_

#include <iostream>
#include <ostream>
#include <set>
#include <vector>

#include <boost/archive/binary_oarchive.hpp>
#include <boost/range/any_range.hpp>
#include <boost/serialization/access.hpp>
#include <boost/serialization/set.hpp>
#include <boost/serialization/shared_ptr.hpp>
#include <boost/serialization/vector.hpp>
#include <fuse_core/constraint.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/serialization.hpp>
#include <fuse_core/uuid.hpp>
#include <fuse_core/variable.hpp>

namespace fuse_core
{

class Transaction
{
public:
  FUSE_SMART_PTR_DEFINITIONS(Transaction)


  using const_constraint_range = boost::any_range<const Constraint, boost::forward_traversal_tag>;

  using const_stamp_range = boost::any_range<const rclcpp::Time, boost::forward_traversal_tag>;

  using const_uuid_range = boost::any_range<const UUID, boost::forward_traversal_tag>;

  using const_variable_range = boost::any_range<const Variable, boost::forward_traversal_tag>;

  const rclcpp::Time & stamp() const {return stamp_;}

  void stamp(const rclcpp::Time & stamp) {stamp_ = stamp;}

  const_stamp_range involvedStamps() const {return involved_stamps_;}

  const rclcpp::Time & minStamp() const;

  const rclcpp::Time & maxStamp() const;

  const_constraint_range addedConstraints() const;

  const_uuid_range removedConstraints() const {return removed_constraints_;}

  const_variable_range addedVariables() const;

  const_uuid_range removedVariables() const {return removed_variables_;}

  bool empty() const;

  void addInvolvedStamp(const rclcpp::Time & stamp);

  void addConstraint(Constraint::SharedPtr constraint, bool overwrite = false);

  void removeConstraint(const UUID & constraint_uuid);

  void addVariable(Variable::SharedPtr variable, bool overwrite = false);

  void removeVariable(const UUID & variable_uuid);

  void merge(const Transaction & other, bool overwrite = false);

  void print(std::ostream & stream = std::cout) const;

  Transaction::UniquePtr clone() const;

  void serialize(fuse_core::BinaryOutputArchive & /* archive */) const;

  void serialize(fuse_core::TextOutputArchive & /* archive */) const;

  void deserialize(fuse_core::BinaryInputArchive & /* archive */);

  void deserialize(fuse_core::TextInputArchive & /* archive */);

private:
  rclcpp::Time stamp_{0, 0, RCL_ROS_TIME};
  std::vector<Constraint::SharedPtr> added_constraints_;
  std::vector<Variable::SharedPtr> added_variables_;
  std::set<rclcpp::Time> involved_stamps_;
  std::vector<UUID> removed_constraints_;
  std::vector<UUID> removed_variables_;

  // Allow Boost Serialization access to private methods
  friend class boost::serialization::access;

  template<class Archive>
  void serialize(Archive & archive, const unsigned int /* version */)
  {
    archive & stamp_;
    archive & added_constraints_;
    archive & added_variables_;
    archive & involved_stamps_;
    archive & removed_constraints_;
    archive & removed_variables_;
  }
};

std::ostream & operator<<(std::ostream & stream, const Transaction & transaction);

}  // namespace fuse_core

#endif  // FUSE_CORE__TRANSACTION_HPP_