task_plan_handler.H

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

#ifndef CAJUN_TASK_HANDLER_H
#define CAJUN_TASK_HANDLER_H

#include "rndf.H"
#include "world_state.H"
#include "task_planner.H"
#include "rndf_point.H"

#include "uc_planner_param.H"
#include "mission_handler.H"

namespace cajun
{
class task_plan_handler_t
{
        tp_plan_t *m_tp_plan;
        world_state_t *m_ws;

        mission_handler_t *m_mh;

        rndf_t const *m_rndf;
        mdf_t const *m_mdf;

        uc_planner_param_t const *m_uc_param;
public:
        task_plan_handler_t (tp_plan_t *tp_plan_, world_state_t *ws_,
                             mission_handler_t *mh,
                             rndf_t const *rndf_, mdf_t const *mdf_) :
                m_tp_plan (tp_plan_), m_ws (ws_), m_mh (mh), m_rndf (rndf_),
                m_mdf (mdf_)
                {
                        m_uc_param =
                                uc_planner_param_t::get_uc_planner_param ();
                }

        void pass_lane (blocked_lane_data_t &blk_data,
                        unsigned path_blk_ind_);
        void insert_UT_TP (unsigned tp_index_, unsigned sid_,
                           unsigned lid_1_, unsigned lid_2_);
        void plan_task_planner (mission_plan_t &mission_plan_);
        void flush_tps ()
                { m_tp_plan->clear ();}
        void print ();
private:
        bool insert_PL_TP (unsigned tp_index_,
                            blocked_lane_data_t &blk_data,
                            unsigned sid, unsigned org_lid,
                            unsigned passing_lid,
                            double blk_x, double blk_y, double orig_end_x,
                            double orig_end_y);
        void insert_LF_TP (unsigned tp_index_, rndf_point_t *lane_end_wp_id,
                           double l_end_x, double l_end_y);
        void insert_to_task_plan (task_planner_t *tp_, unsigned pos_);

        double dis_before_LC (rndf_point_t* wp_id_1_,
                              rndf_point_t* wp_id_2_);

        void add_lane_tp (rndf_point_t* wp_id_2_, tp_plan_t *tp_plan_);

        void add_intersection_tp (rndf_point_t* wp_id_1_,
                                  rndf_point_t* wp_id_2_,
                                  tp_plan_t *tp_plan_);

        void add_initial_lf (
                rndf_point_t* wp_id_1_, rndf_point_t* wp_id_2_,
                tp_plan_t *tp_plan_);

        void add_change_lane_tp (rndf_point_t* wp_id_1_,
                                 rndf_point_t* wp_id_2_,
                                 tp_plan_t *tp_plan_);

        void add_uturn_tp (rndf_point_t* wp_id_1_, rndf_point_t* wp_id_2_,
                           tp_plan_t *tp_plan_);


        void add_zone_tp (rndf_point_t* wp_id_1_,
                          rndf_point_t* wp_id_2_,
                          tp_plan_t *tp_plan_);

        void add_parking_tp (rndf_point_t* wp_id_1_,
                             rndf_point_t* wp_id_2_,
                             tp_plan_t *tp_plan_);

        void add_unparking_tp (rndf_point_t* wp_id_1_,
                               rndf_point_t* wp_id_2_,
                               tp_plan_t *tp_plan_);
};
};

#endif

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