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 "vrfutil/railSegment.h"

#include "vlutil/vlMutex.h"

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

class DtSimulationServices;
class DtAsyncJobMapEntry;

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


   typedef enum
   {
      ON_FEATURE_PART,
      OFF_FEATURE_PART,
      UNKNOWN_PART
   } PathPartType;

   class DtPathPart
   {
   public:
      virtual PathPartType partType() { return UNKNOWN_PART; }
      DtVector myLocalEndLocation;
   };

   class DtOnFeaturePart : public DtPathPart
   {
   public:
      virtual PathPartType partType() override { return ON_FEATURE_PART; }

      std::vector<DtRailSegment> mySegments;
   };

   class DtOffFeaturePart : public DtPathPart
   {
   public:
      virtual PathPartType partType() override { return OFF_FEATURE_PART; }
      std::vector<DtVector> myLocalLocations;
   };

   class DtPartList
   {
   public:
      virtual ~DtPartList();

      std::vector<DtPathPart*> myPartList;
   };


   static std::shared_ptr<DtLuaPathJob> Make(
      DtSimulationServices* mgr,
      DtString obstacleType,
      DtString pathType,
      const DtLocation3D& start,
      const DtLocation3D& dest,
      double buffer,
      bool returnMultiPartPath = false);

   static std::shared_ptr<DtLuaPathJob> Make(
      DtSimulationServices* mgr,
      DtString obstacleType,
      DtString pathType,
      const DtLocation3D& start,
      const DtLocation3D& dest,
      double buffer,
      MAKVRinTerra::DtAStarGraph::DtWeightFactorsList& factors,
      const double offRoadPathWeight,
      bool returnMultiPartPath = false);

   DtLuaPathJob();

   virtual ~DtLuaPathJob() override;

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

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

   virtual void cancel(lua_State* L) override {};

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


   static DtAsciiSerializable* creator();

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


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

protected:
   class PathTask;
   friend class PathTask;

   DtLuaPathJob(
      DtSimulationServices* mgr,
      DtString obstacles,
      DtString paths,
      const DtLocation3D& start,
      const DtLocation3D& dest,
      double buffer,
      bool returnMultiPartPath = false);

   DtLuaPathJob(
      DtSimulationServices* mgr,
      DtString obstacles,
      DtString paths,
      const DtLocation3D& start,
      const DtLocation3D& dest,
      double buffer,
      const MAKVRinTerra::DtAStarGraph::DtWeightFactorsList& weights,
      const double offRoadPathWeight,
      bool returnMultiPartPath = false);

   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;
   MAKVRinTerra::DtAStarGraph::DtWeightFactorsList myWeights;
   double myOffRoadPathWeight;
   Points myPoints;
   DtPartList myPathParts;

   bool myTaskComplete;
   std::shared_ptr<DtAsyncJobMapEntry> myJobEntry;
   std::string myMessage;
   bool myReturnMultiPartPath; 
};