mission_handler.H

Go to the documentation of this file.

// Copyright (C) 2007 University of Louisiana at Lafayette
// Authors: Suresh Golconda

#ifndef CAJUN_MISSION_HANDLER_H
#define CAJUN_MISSION_HANDLER_H

#include "world_state.H"
#include "rndf.H"
#include "mdf.H"
#include "uc_planner_param.H"
#include "mission_planner.H"

#include <deque>

namespace cajun
{

class mission_handler_t
{
        mission_plan_t *m_mission_plan;
        world_state_t *m_ws;
        rndf_t const *m_rndf;
        mdf_t const *m_mdf;
        uc_planner_param_t const *m_uc_param;
        unsigned m_next_checkpoint;
        mission_planner_t *m_mission_planner;
        bool m_finished;
public:
        mission_handler_t (mission_plan_t *mission_plan_,
                           world_state_t *ws_, rndf_t const *rndf_,
                           mdf_t const *mdf_) :
                m_mission_plan (mission_plan_), m_ws (ws_), m_rndf (rndf_),
                m_mdf (mdf_), m_next_checkpoint (0), m_finished (false)
        {
                m_uc_param = uc_planner_param_t::get_uc_planner_param ();
                m_mission_planner = new mission_planner_t (m_rndf, m_mdf,
                                                           m_ws);
        }

        void flush_blockages ()
        { m_mission_planner->create_graph ();}



        bool update_plan (double x_, double y_, double heading_,
                          bool could_be_at_start_shoot_ = false);
        bool update_plan (mission_plan_t &detail_mission_);

        bool update_waypoints_reached (double x_, double y_);

        bool is_finished () { return m_finished; }

        mission_plan_t* get_mission_plan ()
                { return m_mission_plan;}

        void print_plan ();
        void print_mission (mission_plan_t const *mission_plan_);

        rndf_point_t *active_rndf_point_on_or_before (
                rndf_point_t *rp) const;

        rndf_point_t *rndf_point_at_wp (unsigned sid_, unsigned lid_,
                                        unsigned wid_);

        rndf_point_t* active_rndf_point_before (
                double x_, double y_,
                rndf_t::waypoint_id_t const &before_wp_id)
        {
                return m_mission_planner->active_rndf_point_before (
                        x_, y_, before_wp_id);
        }

        // Edge blockages related
        void unset_all_blockages ();

//      void set_unblocked_till (rndf_t::waypoint_id_t wp_id_1_,
//                               rndf_t::waypoint_id_t wp_id_2_);

        void set_blocked (
        unsigned sid_, unsigned blk_lid_, unsigned blk_wid_,
        double blk_x_, double blk_y_,

        unsigned aft_blk_wid_, double aft_blk_x_, double aft_blk_y_,

        unsigned neigh_lid_,
        unsigned neigh_wid_, double neigh_x_, double neigh_y_,

        
        unsigned aft_blk_neigh_wid_, double aft_blk_neigh_x_,
        double aft_blk_neigh_y_);

        bool plan_to_next_checkpoint (
                rndf_point_t *rp_start_, mission_plan_t &path_);

        unsigned get_next_checkpoint_id ();
        unsigned get_num_checkpoints_left ();
private:

        bool approaching_checkpt ();

        void alert_incomplete_path (mission_plan_t const &detail_mission_);
};
};


#endif

---