Class RobotUpdateHandle::Unstable

Nested Relationships

This class is a nested type of Class RobotUpdateHandle.

Class Documentation

class rmf_fleet_adapter::agv::RobotUpdateHandle::Unstable

This API is experimental and will not be supported in the future. Users are to avoid relying on these feature for any integration.

Public Types

enum Decision

Values:

enumerator Undefined
enumerator Clear
enumerator Crowded
using Decide = std::function<void(Decision)>

A callback with this signature will be given to the watchdog when the robot is ready to enter a lift. If the watchdog passes in a true, then the robot will proceed to enter the lift. If the watchdog passes in a false, then the fleet adapter will release its session with the lift and resume later.

using Watchdog = std::function<void(const std::string&, Decide)>

Public Functions

rmf_traffic::schedule::Participant *get_participant()

Get the schedule participant of this robot.

void set_lift_entry_watchdog(Watchdog watchdog, rmf_traffic::Duration wait_duration = std::chrono::seconds(10))

Set a callback that can be used to check whether the robot is clear to enter the lift.