Program Listing for File FleetUpdateHandle.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__FLEETUPDATEHANDLE_HPP
#define RMF_FLEET_ADAPTER__AGV__FLEETUPDATEHANDLE_HPP

#include <rmf_fleet_adapter/agv/RobotUpdateHandle.hpp>
#include <rmf_fleet_adapter/agv/RobotCommandHandle.hpp>

#include <rmf_task_msgs/msg/delivery.hpp>
#include <rmf_task_msgs/msg/task_profile.hpp>

#include <rmf_battery/agv/BatterySystem.hpp>
#include <rmf_battery/DevicePowerSink.hpp>
#include <rmf_battery/MotionPowerSink.hpp>

#include <rmf_task/RequestFactory.hpp>

#include <nlohmann/json.hpp>
#include <rmf_task/Activator.hpp>
#include <rmf_task_sequence/Phase.hpp>
#include <rmf_task_sequence/Event.hpp>

#include <rclcpp/node.hpp>

namespace rmf_fleet_adapter {
namespace agv {

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

  void add_robot(
    std::shared_ptr<RobotCommandHandle> command,
    const std::string& name,
    const rmf_traffic::Profile& profile,
    rmf_traffic::agv::Plan::StartSet start,
    std::function<void(std::shared_ptr<RobotUpdateHandle> handle)> handle_cb);

  class Confirmation
  {
  public:

    Confirmation();

    Confirmation& accept();

    bool is_accepted() const;

    Confirmation& errors(std::vector<std::string> error_messages);

    Confirmation& add_errors(std::vector<std::string> error_messages);

    const std::vector<std::string>& errors() const;

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

  using ConsiderRequest =
    std::function<void(
        const nlohmann::json& description,
        Confirmation& confirm)
    >;

  FleetUpdateHandle& consider_delivery_requests(
    ConsiderRequest consider_pickup,
    ConsiderRequest consider_dropoff);

  FleetUpdateHandle& consider_cleaning_requests(ConsiderRequest consider);

  FleetUpdateHandle& consider_patrol_requests(ConsiderRequest consider);

  FleetUpdateHandle& consider_composed_requests(ConsiderRequest consider);

  FleetUpdateHandle& add_performable_action(
    const std::string& category,
    ConsiderRequest consider);

  void close_lanes(std::vector<std::size_t> lane_indices);

  void open_lanes(std::vector<std::size_t> lane_indices);

  class SpeedLimitRequest
  {
  public:
    SpeedLimitRequest(
      std::size_t lane_index,
      double speed_limit);

    std::size_t lane_index() const;

    double speed_limit() const;

    class Implementation;

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

  void limit_lane_speeds(std::vector<SpeedLimitRequest> requests);

  void remove_speed_limits(std::vector<std::size_t> requests);

  bool set_task_planner_params(
    std::shared_ptr<rmf_battery::agv::BatterySystem> battery_system,
    std::shared_ptr<rmf_battery::MotionPowerSink> motion_sink,
    std::shared_ptr<rmf_battery::DevicePowerSink> ambient_sink,
    std::shared_ptr<rmf_battery::DevicePowerSink> tool_sink,
    double recharge_threshold,
    double recharge_soc,
    bool account_for_battery_drain,
    rmf_task::ConstRequestFactoryPtr finishing_requst = nullptr);

  using AcceptTaskRequest =
    std::function<bool(const rmf_task_msgs::msg::TaskProfile& profile)>;

  [[deprecated("Use the consider_..._requests functions instead")]]
  FleetUpdateHandle& accept_task_requests(AcceptTaskRequest check);

  using AcceptDeliveryRequest =
    std::function<bool(const rmf_task_msgs::msg::Delivery& request)>;

  [[deprecated("Use consider_delivery_requests() instead")]]
  FleetUpdateHandle& accept_delivery_requests(AcceptDeliveryRequest check);

  FleetUpdateHandle& default_maximum_delay(
    std::optional<rmf_traffic::Duration> value);

  std::optional<rmf_traffic::Duration> default_maximum_delay() const;

  [[deprecated("Use fleet_state_topic_publish_period instead")]]
  FleetUpdateHandle& fleet_state_publish_period(
    std::optional<rmf_traffic::Duration> value);

  FleetUpdateHandle& fleet_state_topic_publish_period(
    std::optional<rmf_traffic::Duration> value);

  FleetUpdateHandle& fleet_state_update_period(
    std::optional<rmf_traffic::Duration> value);

  FleetUpdateHandle& set_update_listener(
    std::function<void(const nlohmann::json&)> listener);

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

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

  // Do not allow moving
  FleetUpdateHandle(FleetUpdateHandle&&) = delete;
  FleetUpdateHandle& operator=(FleetUpdateHandle&&) = delete;

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

using FleetUpdateHandlePtr = std::shared_ptr<FleetUpdateHandle>;
using ConstFleetUpdateHandlePtr = std::shared_ptr<const FleetUpdateHandle>;

} // namespace agv
} // namespace rmf_fleet_adapter

#endif // RMF_FLEET_ADAPTER__AGV__FLEETUPDATEHANDLE_HPP