Program Listing for File MirrorManager.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__SCHEDULE__MIRROR_HPP
#define RMF_TRAFFIC_ROS2__SCHEDULE__MIRROR_HPP

#include <rmf_traffic/schedule/Database.hpp>
#include <rmf_traffic/schedule/Mirror.hpp>

#include <rclcpp/node.hpp>

namespace rmf_traffic_ros2 {
namespace schedule {

//==============================================================================
class MirrorManager
{
public:

  class Options
  {
  public:

    Options(
      std::mutex* update_mutex = nullptr,
      bool update_on_wakeup = true);

    std::mutex* update_mutex() const;

    Options& update_mutex(std::mutex* mutex);

    bool update_on_wakeup() const;

    Options& update_on_wakeup(bool choice);

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

  std::shared_ptr<const rmf_traffic::schedule::Mirror> view() const;

  // TODO(MXG): Consider allowing this function to accept a callback that will
  // get triggered when the update is complete.
  void update();

  const Options& get_options() const;

  MirrorManager& set_options(Options options);

  rmf_traffic::schedule::Database fork() const;

  class Implementation;
private:
  MirrorManager();
  rmf_utils::unique_impl_ptr<Implementation> _pimpl;
};

//==============================================================================
class MirrorManagerFuture
{
public:

  void wait() const;

  std::future_status wait_for(const rmf_traffic::Duration& timeout) const;

  std::future_status wait_until(const rmf_traffic::Time& time) const;

  bool valid() const;

  MirrorManager get();

  class Implementation;
private:
  MirrorManagerFuture();
  rmf_utils::unique_impl_ptr<Implementation> _pimpl;
};

//==============================================================================
// TODO(MXG): Use std::optional here instead of std::unique_ptr when C++17 can
// be supported.
MirrorManagerFuture make_mirror(
  const std::shared_ptr<rclcpp::Node>& node,
  rmf_traffic::schedule::Query query,
  MirrorManager::Options options = MirrorManager::Options());

} // namespace schedule
} // namespace rmf_traffic_ros2

#endif // RMF_TRAFFIC_ROS2__SCHEDULE__MIRROR_HPP