luaPathJob.h

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/*******************************************************************************
** Copyright (c) 2013 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/

#pragma once

#include "vrfLua/vrfLuaDefines.h"
#include "vrfLua/luaAsyncJob.h"
#include "vrfutil/scriptGeometry.h"
#include "vrfutil/asciiSerializable.h"
#include "vrfutil/algorithmManager.h"

#include "vlutil/vlMutex.h"

#include "features/featureGeometry.h"
#include "features/pathPlanner.h"

#include <luabind/luabind.hpp>

#include <boost/scoped_ptr.hpp>

class DtSimManager;
class DtAsyncJobMapEntry;

namespace MAKVRinTerra
{
   class DtSharedMemoryFeaturesDebugDrawer;
}

class DT_DLL_vrfLua DtLuaPathJob : public DtLuaAsyncJob
{
public:
   typedef std::vector<DtLocation3D> Points;

   static boost::shared_ptr<DtLuaPathJob> Make(
      DtSimManager* mgr,
      DtString obstacleType,
      DtString pathType,
      const DtLocation3D& start,
      const DtLocation3D& dest,
      double buffer);

   DtLuaPathJob();

   ~DtLuaPathJob();

   luabind::object getObject(lua_State* L, int& index, std::string& message);

   luabind::object getDebugObject(lua_State* L) {return luabind::newtable(L);}

   virtual void cancel(lua_State* L) {};

   void addMessage(DtAlgorithmManager::Severity, std::string);


   static DtAsciiSerializable* creator();

   DtString serialize();
   bool deserialize(const DtString&);
   DtString objectType() const;

   boost::shared_ptr<DtLuaPathJob> shared_from_this();
   boost::shared_ptr<const DtLuaPathJob> shared_from_this() const;

protected:
   class PathTask;
   friend class PathTask;

   DtLuaPathJob(
      DtSimManager* mgr,
      DtString obstacles,
      DtString paths,
      const DtLocation3D& start,
      const DtLocation3D& dest,
      double buffer);

   void start();
   void run(const DtAlgorithmManager& mgr = DtAlgorithmManager());

   void taskComplete();

   typedef DtMutex Mutex;

   mutable Mutex myMutex;
   std::string myObstaclesType;
   std::string myPathType;
   DtLocation3D myStart;
   DtLocation3D myDest;
   double myBuffer;
   boost::scoped_ptr<Points> myPoints;
   boost::shared_ptr<DtAsyncJobMapEntry> myJobEntry;
   std::string myMessage;
};