path_optimising_server.h

#pragma once
 
#include "base_server.h"
#include "optimize_path_median.h"
 
class PathOptimisingServer : public BaseServer {
public:
    static const int COMMAND_IS_READY = 0;
    static const int COMMAND_START_OPTIMIZE_PATH = 1;
    static const int COMMAND_OPTIMIZE_PATH = 2;
 
    void processCommand(int clientSocket, int command, Json::Value jsonData) override;
 
    static void startOptimisePath(
            PathOptimisingServer *pos, std::shared_ptr<bmpf::MedianPathOptimizer> po, int clientSocket,
            std::vector<std::vector<double>> path
    );
 
    void onSocketConnected(int clientSocket) override;
 
 
    PathOptimisingServer(
            const std::shared_ptr<bmpf::Scene> &scene, bool showTrace,
            unsigned int maxOpenSetSize, int gridSize, unsigned int maxNodeCnt,
            int checkCnt,
            int filterDivideCnt, int optimizeLoopCnt, int threadCnt = 1
    ) {
        _scene = scene;
        _checkCnt = checkCnt;
        _showTrace = showTrace;
        _maxOpenSetSize = maxOpenSetSize;
        _gridSize = gridSize;
        _maxNodeCnt = maxNodeCnt;
        _threadCnt = threadCnt;
        _filterDivideCnt = filterDivideCnt;
        _optimizeLoopCnt = optimizeLoopCnt;
    }
 
 
protected:
    std::unordered_map<int, std::vector<std::vector<double>>> paths;
    std::unordered_map<int, bool> pathOptimisingReady;
    std::unordered_map<int, std::shared_ptr<bmpf::MedianPathOptimizer>> pfs;
    std::shared_ptr<bmpf::Scene> _scene;
    bool _showTrace;
    unsigned int _maxOpenSetSize;
    int _gridSize;
    unsigned int _maxNodeCnt;
    int _threadCnt;
    int _checkCnt;
    int _filterDivideCnt;
    int _optimizeLoopCnt;
 
};