Program Listing for File free_block_pickup.hpp

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#pragma once

/*******************************************************************************
 * Includes
 ******************************************************************************/
#include "rcppsw/er/client.hpp"
#include "rcppsw/types/type_uuid.hpp"
#include "rcppsw/types/timestep.hpp"

#include "cosm/ds/operations/cell2D_op.hpp"
#include "cosm/arena/locking.hpp"

/*******************************************************************************
 * Namespaces
 ******************************************************************************/
namespace cosm::arena {
class base_arena_map;
namespace ds {
class arena_grid;
}
} /* namespace cosm::arena */

namespace cosm::repr {
class sim_block3D;
} /* namespace cosm::repr */

namespace cosm::arena::operations {
namespace detail {

/*******************************************************************************
 * Class Definitions
 ******************************************************************************/
class free_block_pickup : public rer::client<free_block_pickup>,
                          public cdops::cell2D_op {
 private:
  struct visit_typelist_impl {
    using value = rmpl::typelist<carena::base_arena_map>;
  };

 public:
  using visit_typelist = visit_typelist_impl::value;

  static free_block_pickup by_robot(crepr::sim_block3D* block,
                                    const rtypes::type_uuid& robot_id,
                                    const rtypes::timestep& t,
                                    const locking& locking);

  static free_block_pickup by_arena(crepr::sim_block3D* block);

  ~free_block_pickup(void) override = default;

  free_block_pickup(const free_block_pickup&) = delete;
  free_block_pickup& operator=(const free_block_pickup&) = delete;

  void visit(base_arena_map& map);

 private:
  free_block_pickup(crepr::sim_block3D* block,
                    const rtypes::type_uuid& robot_id,
                    const rtypes::timestep& t,
                    const locking& locking);

  void visit(cads::arena_grid& grid);

  /* clang-format off */
  const rtypes::type_uuid mc_robot_id;
  const rtypes::timestep  mc_timestep;
  const locking           mc_locking;

  crepr::sim_block3D*    m_block;
  /* clang-format on */
};

using free_block_pickup_visitor_impl =
    rpvisitor::precise_visitor<free_block_pickup,
                               free_block_pickup::visit_typelist>;

} /* namespace detail */

class free_block_pickup_visitor : public detail::free_block_pickup_visitor_impl {
 public:
  using detail::free_block_pickup_visitor_impl::free_block_pickup_visitor_impl;
};


} /* namespace cosm::arena::operations */