multi_robot_router_threaded_srr.h

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#ifndef MRR_THREADED_SRR_H
#define MRR_THREADED_SRR_H

#include <tuw_global_router/single_robot_router.h>
#include <tuw_global_router/srr_utils.h>
#include <tuw_global_router/priority_scheduler.h>
#include <tuw_global_router/route_coordinator_timed.h>
#include <tuw_global_router/route_generator.h>
#include <tuw_global_router/speed_scheduler.h>
#include <tuw_global_router/segment_expander.h>
#include <tuw_global_router/multi_robot_router.h>

namespace multi_robot_router
{
class MultiRobotRouterThreadedSrr : public MultiRobotRouter
{
  public:
    MultiRobotRouterThreadedSrr(const uint32_t _nr_robots, const std::vector<uint32_t> &_robotDiameter, const uint32_t _threads);
    MultiRobotRouterThreadedSrr(const uint32_t _nr_robots, const uint32_t _threads);
    virtual void setRobotNr(const uint32_t _nr_robots);
    virtual void setThreads(const uint32_t _threads);
    virtual void setRobotDiameter(const std::vector<uint32_t> &_diameter);
    virtual bool getRoutingTable(const std::vector<Segment> &_graph, const std::vector<uint32_t> &_startSegments, const std::vector<uint32_t> &_goalSegments, std::vector<std::vector<Checkpoint>> &_routingTable, const float &_timeLimit);
    virtual const uint32_t getPriorityScheduleAttempts() const;
    virtual const uint32_t getSpeedScheduleAttempts() const;
    virtual void setCollisionResolver(const SegmentExpander::CollisionResolverType cRes);
    virtual void setPriorityRescheduling(const bool _status);
    virtual void setSpeedRescheduling(const bool _status);

  private:
    void resetAttempt(const std::vector<Segment> &_graph);
    // attemps to find a routing table according to a given priority and speed schedule
    bool planPaths(const std::vector<uint32_t> &_priorityList, const std::vector<float> &_speedList, const std::vector<uint32_t> &_startSegments, const std::vector<uint32_t> &_goalSegments, const uint32_t _firstSchedule, std::vector<std::vector<RouteVertex>> &_routeCandidates, uint32_t &_robot);
    PriorityScheduler priority_scheduler_;
    SpeedScheduler speed_scheduler_;
    RouteCoordinator *route_coordinator_;
    RouteCoordinatorTimed rct_;
    bool useSpeedRescheduler_ = true;
    bool usePriorityRescheduler_ = true;

    uint32_t nr_robots_;
    uint32_t min_diameter_;
    std::vector<uint32_t> robotDiameter_;
    std::vector<std::vector<uint32_t>> robotCollisions_;
    uint32_t priorityScheduleAttempts_;
    uint32_t speedScheduleAttempts_;
    SegmentExpander::CollisionResolverType cResType_;
    uint32_t maxIterationsSingleRobot_;
    uint32_t threads_ = 10;
    std::vector<SingleRobotRouter> srr;
};
} // namespace multi_robot_router
#endif