#include <consensus.h>

Public Member Functions
	Consensus (consensus::ConsensusSettings settings, const std::shared_ptr< sola_ns3::SOLAWrapperNs3 > &sola, uint32_t node_id, std::shared_ptr< PathPlanningLoggerNs3 > logger)

void	findConsensus (const PointTimePairs &points, double seconds_earliest_start, std::function< void(uint32_t id, double start_time)> success_cb, std::function< void(uint32_t id)> fail_cb)

void	recvTopicMessage (const std::string &topic, const std::string &msg)

Detailed Description

Interface for different consensus algorithms. This class creates the wanted consensus algorithm instance and forwards all calls to the algorithm

Member Function Documentation

void daisi::path_planning::consensus::Consensus::findConsensus	(	const PointTimePairs &	points,
		double	seconds_earliest_start,
		std::function< void(uint32_t id, double start_time)>	success_cb,
		std::function< void(uint32_t id)>	fail_cb
	)

Try to get an consensus/clearance for the route with given parameters

Parameters

points	intersections with corresponding relative timestamp (e.g. first waypoint (station out) will be reached in 0 seconds)
seconds_earliest_start	seconds after calling this function, at which the AGV could be start driving
success_cb	callback that will be called when getting a consensus succeeded, passing the global start time
fail_cb	callback that will be called when getting a consensus failed

void daisi::path_planning::consensus::Consensus::recvTopicMessage	(	const std::string &	topic,
		const std::string &	msg
	)

Arriving topic messages must be passed from the station to the consensus algorithm, because the consensus interface has no access to the middleware

Parameters

topic
msg

The documentation for this class was generated from the following files: