.. _program_listing_file__tmp_ws_src_rmf_simulation_rmf_robot_sim_common_include_rmf_robot_sim_common_dispenser_common.hpp:

Program Listing for File dispenser_common.hpp
=============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_simulation_rmf_robot_sim_common_include_rmf_robot_sim_common_dispenser_common.hpp>` (``/tmp/ws/src/rmf_simulation/rmf_robot_sim_common/include/rmf_robot_sim_common/dispenser_common.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * 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_ROBOT_SIM_COMMON__DISPENSER_COMMON_HPP
   #define RMF_ROBOT_SIM_COMMON__DISPENSER_COMMON_HPP
   
   #include <string>
   #include <unordered_map>
   
   #include <rclcpp/rclcpp.hpp>
   
   #include <rmf_fleet_msgs/msg/fleet_state.hpp>
   #include <rmf_dispenser_msgs/msg/dispenser_state.hpp>
   #include <rmf_dispenser_msgs/msg/dispenser_result.hpp>
   #include <rmf_dispenser_msgs/msg/dispenser_request.hpp>
   
   #include <rmf_robot_sim_common/utils.hpp>
   
   namespace rmf_dispenser_common {
   
   class TeleportDispenserCommon
   {
   public:
     using FleetState = rmf_fleet_msgs::msg::FleetState;
     using FleetStateIt =
       std::unordered_map<std::string, FleetState::UniquePtr>::iterator;
     using DispenserState = rmf_dispenser_msgs::msg::DispenserState;
     using DispenserRequest = rmf_dispenser_msgs::msg::DispenserRequest;
     using DispenserResult = rmf_dispenser_msgs::msg::DispenserResult;
   
     bool dispense = false;
     DispenserRequest latest; // Only store and act on last received request
   
     std::string guid; // Plugin name
   
     double last_pub_time = 0.0;
     double sim_time = 0.0;
   
     bool item_en_found = false; // True if entity to be dispensed has been determined. Used when locating item in future
     bool dispenser_filled = false;
   
     rclcpp::Node::SharedPtr ros_node;
   
     std::unordered_map<std::string, FleetState::UniquePtr> fleet_states;
     DispenserState current_state;
   
     void send_dispenser_response(uint8_t status) const;
     void fleet_state_cb(FleetState::UniquePtr msg);
     void dispenser_request_cb(DispenserRequest::UniquePtr msg);
     void on_update(
       std::function<void(FleetStateIt,
       std::vector<rmf_plugins_utils::SimEntity>&)> fill_robot_list_cb,
       std::function<rmf_plugins_utils::SimEntity(
         const std::vector<rmf_plugins_utils::SimEntity>&,
         bool&)> find_nearest_model_cb,
       std::function<void(const rmf_plugins_utils::SimEntity&)> place_on_entity_cb,
       std::function<bool(void)> check_filled_cb);
     void init_ros_node(const rclcpp::Node::SharedPtr node);
   
   private:
     rclcpp::Subscription<FleetState>::SharedPtr _fleet_state_sub;
     rclcpp::Publisher<DispenserState>::SharedPtr _state_pub;
     rclcpp::Subscription<DispenserRequest>::SharedPtr _request_sub;
     rclcpp::Publisher<DispenserResult>::SharedPtr _result_pub;
     std::unordered_map<std::string, bool> _past_request_guids;
   
     void try_refill_dispenser(std::function<bool(void)> check_filled_cb);
     bool dispense_on_nearest_robot(
       std::function<void(FleetStateIt,
       std::vector<rmf_plugins_utils::SimEntity>&)> fill_robot_list_cb,
       std::function<rmf_plugins_utils::SimEntity(
         const std::vector<rmf_plugins_utils::SimEntity>&,
         bool&)> find_nearest_model_cb,
       std::function<void(const rmf_plugins_utils::SimEntity&)> place_on_entity_cb,
       const std::string& fleet_name);
   };
   
   } // namespace rmf_dispenser_common
   
   #endif