trajectory_finding_server.h

#pragma once
 
#include "base_server.h"
#include "monotone_trajectory_finder.h"
 
class TrajectoryFindingServer : public BaseServer {
public:
 
    static const int COMMAND_IS_READY = 0;
    static const int COMMAND_START_FIND_TRAJECTORY = 1;
    static const int COMMAND_GET_POSITIONS = 2;
    static const int COMMAND_GET_SPEED = 3;
    static const int COMMAND_GET_ACCELERATIONS = 4;
 
    void processCommand(int clientSocket, int command, Json::Value jsonData) override;
 
    static void startFindTrajectory(
            TrajectoryFindingServer *tps, std::shared_ptr<bmpf::MonotoneTrajectoryFinder> tf,
            int clientSocket, std::vector<double> start, std::vector<double> end);
 
    void onSocketConnected(int clientSocket) override;
 
    TrajectoryFindingServer(const std::shared_ptr<bmpf::Scene> &scene, double intervalDuration, bool showTrace,
                            unsigned int maxOpenSetSize, int gridSize, unsigned int maxNodeCnt, int checkCnt,
                            int threadCnt = 1) {
        _scene = scene;
        _intervalDuration = intervalDuration;
        _showTrace = showTrace;
        _maxOpenSetSize = maxOpenSetSize;
        _gridSize = gridSize;
        _maxNodeCnt = maxNodeCnt;
        _checkCnt = checkCnt;
        _threadCnt = threadCnt;
    }
 
protected:
    std::unordered_map<int, bool> trajectoryFindingReady;
    std::unordered_map<int, std::shared_ptr<bmpf::MonotoneTrajectoryFinder>> tfs;
    std::shared_ptr<bmpf::Scene> _scene;
    double _intervalDuration;
    bool _showTrace;
    unsigned int _maxOpenSetSize;
    int _gridSize;
    unsigned int _maxNodeCnt;
    int _checkCnt;
    int _threadCnt;
};