multirobot_pf_server.h

#pragma once
 
 
#include "path_finding_server.h"
#include "scene.h"
#include "continuous_path_finder.h"
#include "base/path_finder.h"
 
class MultiRobotPFServer : public PathFindingServer {
public:
    MultiRobotPFServer(const std::shared_ptr<bmpf::Scene> &scene, bool showTrace,
                       unsigned int maxOpenSetSize, int gridSize, unsigned int maxNodeCnt,
                       int threadCnt = 1) {
        _scene = scene;
        _showTrace = showTrace;
        _maxOpenSetSize = maxOpenSetSize;
        _gridSize = gridSize;
        _maxNodeCnt = maxNodeCnt;
        _threadCnt = threadCnt;
    }
 
    std::shared_ptr<bmpf::PathFinder> createPathFinder(int clientSocket) override {
        std::shared_ptr<bmpf::PathFinder> pf = std::make_shared<MultiRobotPathFinder>(
                _scene, _showTrace, _maxOpenSetSize, _gridSize,
                _maxNodeCnt,  _threadCnt
        );
 
        return pf;
    }
 
 
private:
    std::shared_ptr<bmpf::Scene> _scene;
    bool _showTrace;
    unsigned int _maxOpenSetSize;
    int _gridSize;
    unsigned int _maxNodeCnt;
    int _threadCnt;
};