route_coordinator_timed.h

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#ifndef ROUTE_COORDINATOR_TIMELESS_H
#define ROUTE_COORDINATOR_TIMELESS_H
 
#include <tuw_global_router/route_coordinator.h>
#include <tuw_global_router/srr_utils.h>
 
namespace multi_robot_router
{
 
class RouteCoordinatorTimed : public RouteCoordinator
{
    class Timeline
    {
        typedef struct seg_occupation_t
        {
            uint32_t robot;
            float spaceOccupied;
            uint32_t startTime;
            int32_t endTime; //-1 means forever
            bool mainSeg;
            seg_occupation_t(const uint32_t _robot, const float &_spaceOcupied, const uint32_t _startTime, const int32_t _endTime) : robot(_robot), spaceOccupied(_spaceOcupied), startTime(_startTime), endTime(_endTime), mainSeg(true)
            {
            }
            seg_occupation_t(const uint32_t _robot, const float &_spaceOcupied, const uint32_t _startTime, const int32_t _endTime, const bool &_mainSeg) : robot(_robot), spaceOccupied(_spaceOcupied), startTime(_startTime), endTime(_endTime), mainSeg(_mainSeg)
            {
            }
        } seg_occupation;
 
      public:
        Timeline();
 
        void reset(const std::vector<Segment> &_graph, const uint32_t _nrRobots);
        bool addSegment(const uint32_t _startTime, const int32_t _endTime, const uint32_t _segId, const uint32_t _robotNr, const uint32_t _robotSize, bool _mainSeg);
        bool checkSegment(const uint32_t _startTime, const int32_t _endTime, const uint32_t _segId, const uint32_t _robotNr, const uint32_t _robotSize, int32_t &_lastCollisionRobot) const;
        bool addCrossingSegment(const uint32_t _startTime, const int32_t _endTime, const uint32_t _segId, const uint32_t _robotNr, const uint32_t _robotSize, const bool &_mainSeg);
        bool checkCrossingSegment(const uint32_t _startTime, const int32_t _endTime, const uint32_t _segId, const uint32_t _robotNr, const uint32_t _robotSize, int32_t &_lastCollisionRobot) const;
        int32_t findSegId(const int32_t _robot, const uint32_t _timestep) const;
        uint32_t getSize() const;
        int32_t getTimeUntilRobotOnSegment(const int32_t _robotNr, const uint32_t _segId) const;
        std::vector<std::pair<uint32_t, float>> getListOfRobotsHigherPrioritizedRobots(const uint32_t _robot, const uint32_t _segId, const int32_t _potential) const;
        void removeRobot(const uint32_t _robot);
 
      private:
        std::vector<std::vector<seg_occupation>> timeline_;
        std::vector<std::vector<uint32_t>> robotSegments_;
        std::vector<float> segmentSpace_;
        uint32_t maxTime_ = 0;
        uint32_t nrRobots_ = 0;
 
        uint32_t tmpRobot_ = 0;
    };
 
  public:
    RouteCoordinatorTimed();
    void reset(const std::vector<Segment> &_graph, const uint32_t _nrRobots);
    bool addRoute(const std::vector<RouteVertex> &_path, const uint32_t _diameterPixel, const uint32_t _robotId);
    bool checkSegment(const Vertex &_next, const uint32_t _startTime, const int32_t _endTime, const uint32_t _diameterPixel, int32_t &_collisionRobot, const uint32_t _robotId, bool _ignoreGoal = false) const;
    bool setGoalSegments(const std::vector<uint32_t> &_goalSegments);
    bool setStartSegments(const std::vector<uint32_t> &_startSegments);
    bool isGoal(const Vertex &_seg, const uint32_t _robotId) const;
    const uint32_t getStart(const uint32_t _robotId) const;
    const uint32_t getEnd(const uint32_t _robotId) const;
    int32_t findSegNr(const uint32_t _robot, const uint32_t _potential) const;
    int32_t findPotentialUntilRobotOnSegment(const uint32_t _robot, const uint32_t _segId) const; //-1 means forever
    std::vector<std::pair<uint32_t, float>> getListOfRobotsHigherPrioritizedRobots(const uint32_t _robot, const uint32_t _segId, const int32_t _potential) const;
    void removeRobot(const uint32_t _robot);
 
  private:
    // Checks a segment ignoring Crossings
    bool checkSegmentSingle(const Vertex &_next, const uint32_t _startTime, const int32_t _endTime, const uint32_t _diameterPixel, int32_t &_collisionRobot, const uint32_t _robotId, const bool &_ignoreGoal) const;
 
    std::vector<uint32_t> robotSize_;
    Timeline timeline_;
    std::vector<uint32_t> goalSegments_;
    std::vector<uint32_t> startSegments_;
};
} // namespace multi_robot_router
#endif // PATH_COORDINATOR_TIMELESS_H