FIFE
2008.0
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00001 /*************************************************************************** 00002 * Copyright (C) 2005-2008 by the FIFE team * 00003 * http://www.fifengine.de * 00004 * This file is part of FIFE. * 00005 * * 00006 * FIFE is free software; you can redistribute it and/or * 00007 * modify it under the terms of the GNU Lesser General Public * 00008 * License as published by the Free Software Foundation; either * 00009 * version 2.1 of the License, or (at your option) any later version. * 00010 * * 00011 * This library is distributed in the hope that it will be useful, * 00012 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00013 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * 00014 * Lesser General Public License for more details. * 00015 * * 00016 * You should have received a copy of the GNU Lesser General Public * 00017 * License along with this library; if not, write to the * 00018 * Free Software Foundation, Inc., * 00019 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA * 00020 ***************************************************************************/ 00021 00022 #ifndef FIFE_PATHFINDER_ROUTEPATHER 00023 #define FIFE_PATHFINDER_ROUTEPATHER 00024 00025 // Standard C++ library includes 00026 #include <map> 00027 #include <vector> 00028 00029 // 3rd party library includes 00030 00031 // FIFE includes 00032 // These includes are split up in two parts, separated by one empty line 00033 // First block: files included from the FIFE root src directory 00034 // Second block: files included from the same folder 00035 #include "model/metamodel/abstractpather.h" 00036 #include "model/structures/location.h" 00037 #include "model/structures/map.h" 00038 #include "util/structures/priorityqueue.h" 00039 00040 namespace FIFE { 00041 00042 class Search; 00043 class SearchSpace; 00044 class RoutePatherSearch; 00045 00046 class RoutePather : public AbstractPather { 00047 public: 00051 RoutePather() : m_map(0), m_nextFreeSessionId(0), m_maxticks(1000) { 00052 } 00053 00054 void setMap(Map* map); 00055 int getNextLocation(const Instance* instance, const Location& target, 00056 double distance_to_travel, Location& nextLocation, 00057 Location& facingLocation, int session_id=-1, 00058 int priority = MEDIUM_PRIORITY); 00059 00066 void update(); 00067 00076 bool cancelSession(const int session_id); 00077 00083 bool addSearchSpace(SearchSpace* search_space); 00084 00090 SearchSpace* getSearchSpace(Layer * const layer); 00091 00092 std::string getName() const { return "RoutePather"; }; 00093 private: 00094 typedef std::list<Location> Path; 00095 typedef PriorityQueue<RoutePatherSearch*, int> SessionQueue; 00096 typedef std::list<int> SessionList; 00097 typedef std::map<int, Path> PathMap; 00098 typedef std::map<Layer*, SearchSpace*> SearchSpaceMap; 00099 typedef std::map<int, Location> LocationMap; 00111 bool followPath(const Instance* instance, Path& path, double speed, Location& nextLocation, Location& facingLocation); 00112 00119 void addSessionId(const int sessionId); 00120 00129 void makePlan(const Instance *instance, const Location& target, int session_id, int priority); 00130 00134 int makeSessionId(); 00135 00137 bool locationsEqual(const Location &a, const Location &b); 00138 00144 bool testStep(const Instance *instance, Path& path); 00145 00153 bool sessionIdValid(const int sessionId); 00154 00160 bool invalidateSessionId(const int sessionId); 00161 00162 //The map the search is running on. 00163 Map* m_map; 00164 00165 //A map of currently running sessions (searches). 00166 SessionQueue m_sessions; 00167 00168 //A list of session ids that have been registered. 00169 SessionList m_registeredSessionIds; 00170 00171 //Calculated paths for the movement phase. 00172 PathMap m_paths; 00173 00174 //The endpoints for which those paths were calculated 00175 LocationMap m_path_targets; 00176 00177 //A map of searchspaces. 00178 SearchSpaceMap m_searchspaces; 00179 00180 //The next free session id. 00181 int m_nextFreeSessionId; 00182 00183 //The maximum number of ticks allowed. 00184 int m_maxticks; 00185 }; 00186 } 00187 #endif