Class Activator

Class Documentation

class rmf_task::Activator

A factory for generating Task::Active instances from requests.

Public Types

using Activate = std::function<Task::ActivePtr(const std::function<State()> &get_stateconst 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)>

Signature for activating a task

Return

an active, running instance of the requested task.

Template Parameters
Parameters

  • [in] get_state: A callback for retrieving the current state of the robot

  • [in] parameters: A reference to the parameters for the robot

  • [in] booking: An immutable reference to the booking information for the task

  • [in] description: The down-casted description of the task

  • [in] backup_state: The serialized backup state of the Task, if the Task is being restored from a crash or disconnection. If the Task is not being restored, a std::nullopt will be passed in here.

  • [in] update: A callback that will be triggered when the task has a significant update in its status.

  • [in] checkpoint: A callback that will be triggered when the task has reached a task checkpoint whose state is worth backing up.

  • [in] finished: A callback that will be triggered when the task has finished.

Public Functions

Activator()

Construct an empty TaskFactory.

template<typename Description>
void add_activator(Activate<Description> activator)

Add a callback to convert from a Description into an active Task.

Template Parameters

  • Description: A class that implements the Request::Description interface

Parameters

  • [in] activator: A callback that activates a Task matching the Description

Task::ActivePtr activate(const std::function<State()> &get_stateconst 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

Activate a Task object based on a Request.

Return

an active, running instance of the requested task.

Parameters

  • [in] get_state: A callback for retrieving the current state of the robot

  • [in] parameters: A reference to the parameters for the robot

  • [in] request: The task request

  • [in] update: A callback that will be triggered when the task has a significant update

  • [in] checkpoint: A callback that will be triggered when the task has reached a task checkpoint whose state is worth backing up.

  • [in] phase_finished: A callback that will be triggered whenever a task phase is finished

  • [in] task_finished: A callback that will be triggered when the task has finished

Task::ActivePtr restore(const std::function<State()> &get_stateconst 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

Restore a Task that crashed or disconnected.

Return

an active, running instance of the requested task.

Parameters

  • [in] get_state: A callback for retrieving the current state of the robot

  • [in] parameters: A reference to the parameters for the robot

  • [in] request: The task request

  • [in] backup_state: The serialized backup state of the Task

  • [in] update: A callback that will be triggered when the task has a significant update

  • [in] checkpoint: A callback that will be triggered when the task has reached a task checkpoint whose state is worth backing up.

  • [in] phase_finished: A callback that will be triggered whenever a task phase is finished

  • [in] task_finished: A callback that will be triggered when the task has finished