auction_based_task_management.h

// Copyright 2023 The SOLA authors
//
// This file is part of DAISI.
//
// DAISI is free software: you can redistribute it and/or modify it under the terms of the GNU
// General Public License as published by the Free Software Foundation; version 2.
//
// DAISI is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even
// the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
// Public License for more details.
//
// You should have received a copy of the GNU General Public License along with DAISI. If not, see
// <https://www.gnu.org/licenses/>.
//
// SPDX-License-Identifier: GPL-2.0-only
 
#ifndef DAISI_CPPS_LOGICAL_TASK_MANAGEMENT_AUCTION_BASED_TASK_MANAGEMENT_H_
#define DAISI_CPPS_LOGICAL_TASK_MANAGEMENT_AUCTION_BASED_TASK_MANAGEMENT_H_
 
#include "metrics_composition.h"
#include "task_management.h"
 
namespace daisi::cpps::logical {
 
class AuctionBasedTaskManagement : public TaskManagement {
public:
  struct InsertionPoint {};
 
  AuctionBasedTaskManagement(const AmrDescription &amr_description, const Topology &topology,
                             const daisi::util::Pose &pose)
      : TaskManagement(amr_description, topology, pose) {}
 
  ~AuctionBasedTaskManagement() override = default;
 
  virtual bool addTask(const daisi::material_flow::Task &task,
                       std::shared_ptr<InsertionPoint> insertion_point = nullptr) = 0;
 
  bool addTask(const daisi::material_flow::Task &task) final { return addTask(task, nullptr); }
 
  virtual bool canAddTask(const daisi::material_flow::Task &task,
                          std::shared_ptr<InsertionPoint> insertion_point = nullptr) = 0;
 
  bool canAddTask(const daisi::material_flow::Task &task) final {
    return canAddTask(task, nullptr);
  }
 
  virtual std::pair<MetricsComposition, std::shared_ptr<InsertionPoint>>
  getLatestCalculatedInsertionInfo() const = 0;
};
 
}  // namespace daisi::cpps::logical
 
#endif