.. _program_listing_file__tmp_ws_src_rmf_task_rmf_task_sequence_include_rmf_task_sequence_events_Bundle.hpp:

Program Listing for File Bundle.hpp
===================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_task_rmf_task_sequence_include_rmf_task_sequence_events_Bundle.hpp>` (``/tmp/ws/src/rmf_task/rmf_task_sequence/include/rmf_task_sequence/events/Bundle.hpp``)

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

.. code-block:: cpp

   /*
    * 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_SEQUENCE__EVENTS__BUNDLE_HPP
   #define RMF_TASK_SEQUENCE__EVENTS__BUNDLE_HPP
   
   #include <rmf_task_sequence/Event.hpp>
   #include <rmf_task/events/SimpleEventState.hpp>
   
   #include <vector>
   #include <optional>
   
   namespace rmf_task_sequence {
   namespace events {
   
   //==============================================================================
   class Bundle : public Event
   {
   public:
   
     enum Type
     {
       Sequence,
   
       // (Not implemented yet)
   //    ParallelAll,
   
       // (Not implemented yet)
   //    ParallelAny
     };
   
     class Description;
   
     static void add(const Event::InitializerPtr& initializer);
   
     static void add(
       Event::Initializer& add_to,
       const Event::ConstInitializerPtr& initialize_from);
   
     template<typename OtherDesc>
     using UnfoldDescription =
       std::function<Bundle::Description(const OtherDesc&)>;
   
     template<typename OtherDesc>
     static void unfold(
       const UnfoldDescription<OtherDesc>& unfold_description,
       Event::Initializer& add_to,
       const Event::ConstInitializerPtr& initialize_from);
   
     using UpdateFn = std::function<void()>;
     using DependencySpecifiers = std::vector<std::function<StandbyPtr(UpdateFn)>>;
   
     static StandbyPtr standby(
       Type type,
       const DependencySpecifiers& dependencies,
       rmf_task::events::SimpleEventStatePtr state,
       std::function<void()> update);
   
     static Event::StandbyPtr initiate(
       const Event::Initializer& initializer,
       const Event::AssignIDPtr& id,
       const std::function<rmf_task::State()>& get_state,
       const ConstParametersPtr& parameters,
       const Bundle::Description& description,
       std::function<void()> update);
   
     static Event::ActivePtr restore(
       const Event::Initializer& initializer,
       const Event::AssignIDPtr& id,
       const std::function<rmf_task::State()>& get_state,
       const ConstParametersPtr& parameters,
       const Bundle::Description& description,
       const std::string& backup,
       std::function<void()> update,
       std::function<void()> checkpoint,
       std::function<void()> finished);
   };
   
   //==============================================================================
   class Bundle::Description : public Event::Description
   {
   public:
   
     using Dependencies = std::vector<Event::ConstDescriptionPtr>;
   
     Description(
       Dependencies dependencies,
       Type type,
       std::optional<std::string> category = std::nullopt,
       std::optional<std::string> detail = std::nullopt);
   
     const Dependencies& dependencies() const;
   
     Description& dependencies(Dependencies new_elements);
   
     Type type() const;
   
     Description& type(Type new_type);
   
     const std::optional<std::string>& category() const;
   
     Description& category(std::optional<std::string> new_category);
   
     const std::optional<std::string>& detail() const;
   
     Description& detail(std::optional<std::string> new_detail);
   
     // Documentation inherited
     Activity::ConstModelPtr make_model(
       rmf_task::State invariant_initial_state,
       const Parameters& parameters) const final;
   
     // Documentation inherited
     Header generate_header(
       const rmf_task::State& initial_state,
       const Parameters& parameters) const final;
   
     class Implementation;
   private:
     rmf_utils::impl_ptr<Implementation> _pimpl;
   };
   
   } // namespace events
   } // namespace rmf_task_sequence
   
   #include <rmf_task_sequence/events/detail/impl_Bundle.hpp>
   
   #endif // RMF_TASK_SEQUENCE__EVENTS__BUNDLE_HPP