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_TASK_MANAGEMENT_H_
#define DAISI_CPPS_LOGICAL_TASK_MANAGEMENT_TASK_MANAGEMENT_H_
 
#include <algorithm>
#include <functional>
#include <memory>
#include <optional>
#include <utility>
 
#include "cpps/amr/amr_description.h"
#include "cpps/amr/amr_topology.h"
#include "material_flow/model/task.h"
#include "metrics_composition.h"
#include "task_management_helper.h"
#include "utils/structure_helpers.h"
 
namespace daisi::cpps::logical {
 
class TaskManagement {
public:
  explicit TaskManagement(AmrDescription amr_description, Topology topology,
                          const daisi::util::Pose &pose)
      : amr_description_(std::move(amr_description)),
        topology_(std::move(topology)),
        current_pose_(pose) {}
 
  virtual ~TaskManagement() = default;
 
  virtual bool hasTasks() const = 0;
 
  virtual daisi::material_flow::Task getCurrentTask() const = 0;
 
  virtual bool setNextTask() = 0;
 
  virtual bool canAddTask(const daisi::material_flow::Task &task) = 0;
 
  virtual bool addTask(const daisi::material_flow::Task &task) = 0;
 
  void addNotifyTaskAssignmentCallback(std::function<void(void)> callback) {
    task_assignment_callbacks_.push_back(std::move(callback));
  }
 
  void clearNotifyTaskAssignmentCallback() { task_assignment_callbacks_.clear(); }
 
protected:
  std::vector<std::function<void(void)>> task_assignment_callbacks_;
 
  AmrDescription amr_description_;
  Topology topology_;
  daisi::util::Pose current_pose_;
};
 
}  // namespace daisi::cpps::logical
 
#endif