Program Listing for File Writer.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__BLOCKADE__WRITER_HPP
#define RMF_TRAFFIC_ROS2__BLOCKADE__WRITER_HPP

#include <rmf_traffic/blockade/Participant.hpp>

#include <rclcpp/node.hpp>

namespace rmf_traffic_ros2 {
namespace blockade {

//==============================================================================
class Writer : public std::enable_shared_from_this<Writer>
{
public:

  static std::shared_ptr<Writer> make(rclcpp::Node& node);

  using ReservedRange = rmf_traffic::blockade::ReservedRange;
  using ReservationId = rmf_traffic::blockade::ReservationId;
  using NewRangeCallback =
    std::function<void(
        const ReservationId reservation,
        const ReservedRange& range)>;

  rmf_traffic::blockade::Participant make_participant(
    rmf_traffic::blockade::ParticipantId id,
    double radius,
    NewRangeCallback new_range_cb);

  class Implementation;
private:
  Writer(rclcpp::Node& node);
  rmf_utils::unique_impl_ptr<Implementation> _pimpl;
};

using WriterPtr = std::shared_ptr<Writer>;

} // namespace blockade
} // namespace rmf_traffic_ros2

#endif // RMF_TRAFFIC_ROS2__BLOCKADE__WRITER_HPP