Program Listing for File Activator.hpp
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/*
* Copyright (C) 2021 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_TASK__ACTIVATOR_HPP
#define RMF_TASK__ACTIVATOR_HPP
#include <rmf_task/Request.hpp>
namespace rmf_task {
//==============================================================================
class Activator
{
public:
Activator();
template<typename Description>
using Activate =
std::function<
Task::ActivePtr(
const std::function<State()>& get_state,
const ConstParametersPtr& parameters,
const Task::ConstBookingPtr& booking,
const Description& description,
std::optional<std::string> backup_state,
std::function<void(Phase::ConstSnapshotPtr)> update,
std::function<void(Task::Active::Backup)> checkpoint,
std::function<void(Phase::ConstCompletedPtr)> phase_finished,
std::function<void()> task_finished)
>;
template<typename Description>
void add_activator(Activate<Description> activator);
Task::ActivePtr activate(
const std::function<State()>& get_state,
const ConstParametersPtr& parameters,
const Request& request,
std::function<void(Phase::ConstSnapshotPtr)> update,
std::function<void(Task::Active::Backup)> checkpoint,
std::function<void(Phase::ConstCompletedPtr)> phase_finished,
std::function<void()> task_finished) const;
Task::ActivePtr restore(
const std::function<State()>& get_state,
const ConstParametersPtr& parameters,
const Request& request,
std::string backup_state,
std::function<void(Phase::ConstSnapshotPtr)> update,
std::function<void(Task::Active::Backup)> checkpoint,
std::function<void(Phase::ConstCompletedPtr)> phase_finished,
std::function<void()> task_finished) const;
class Implementation;
private:
void _add_activator(
std::type_index type,
Activate<Task::Description> activator);
rmf_utils::impl_ptr<Implementation> _pimpl;
};
using ActivatorPtr = std::shared_ptr<Activator>;
using ConstActivatorPtr = std::shared_ptr<const Activator>;
} // namespace rmf_task
#include <rmf_task/detail/impl_Activator.hpp>
#endif // RMF_TASK__ACTIVATOR_HPP