Program Listing for File Adapter.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_FLEET_ADAPTER__AGV__ADAPTER_HPP
#define RMF_FLEET_ADAPTER__AGV__ADAPTER_HPP

#include <rmf_fleet_adapter/agv/FleetUpdateHandle.hpp>
#include <rmf_fleet_adapter/agv/EasyTrafficLight.hpp>

#include <rmf_traffic/agv/VehicleTraits.hpp>
#include <rmf_traffic/agv/Graph.hpp>

#include <rclcpp/node.hpp>

namespace rmf_fleet_adapter {
namespace agv {

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

  static std::shared_ptr<Adapter> init_and_make(
    const std::string& node_name,
    std::optional<rmf_traffic::Duration> discovery_timeout = std::nullopt);

  static std::shared_ptr<Adapter> make(
    const std::string& node_name,
    const rclcpp::NodeOptions& node_options = rclcpp::NodeOptions(),
    std::optional<rmf_traffic::Duration> discovery_timeout = std::nullopt);

  std::shared_ptr<FleetUpdateHandle> add_fleet(
    const std::string& fleet_name,
    rmf_traffic::agv::VehicleTraits traits,
    rmf_traffic::agv::Graph navigation_graph,
    std::optional<std::string> server_uri = std::nullopt);

  using Blockers = std::vector<EasyTrafficLight::Blocker>;

  void add_easy_traffic_light(
    std::function<void(EasyTrafficLightPtr handle)> handle_callback,
    const std::string& fleet_name,
    const std::string& robot_name,
    rmf_traffic::agv::VehicleTraits traits,
    std::function<void()> pause_callback,
    std::function<void()> resume_callback,
    std::function<void(Blockers)> deadlock_callback = nullptr);


  std::shared_ptr<rclcpp::Node> node();

  std::shared_ptr<const rclcpp::Node> node() const;

  Adapter& start();

  Adapter& stop();

  Adapter& wait();

  Adapter& wait_for(std::chrono::nanoseconds max_wait);

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

using AdapterPtr = std::shared_ptr<Adapter>;
using ConstAdapterPtr = std::shared_ptr<const Adapter>;

} // namespace agv
} // namespace rmf_fleet_adapter

#endif // RMF_FLEET_ADAPTER__AGV__ADAPTER_HPP