CommandEntityToPosition.h

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//  ConscienceRobotManager
//
//  Created by Louis Grignon on 21/12/2022.
//  Copyright © 2022 IliesZaoui. All rights reserved.
//
#ifndef CommandEntityToPosition_h
#define CommandEntityToPosition_h
 
#include "./ArtificialIntelligence/Algorithms/pathFinding.h"
#include "Command.h"
#include "Parser/CscCommandAutoParse.h"
 
using namespace conscience_core::ai::algorithms::path_finding;
 
namespace conscience_core::bridging::commands::environment_entities {
 
ENUM(CommandEntityToPositionAlgorithm,
     CommandEntityToPositionAlgorithm_Default,
 
     CommandEntityToPositionAlgorithm_Dijkstra);
 
class CSC_DLL_IMPORTEXPORT CommandEntityToPosition : public CscCommand {
 
public:
    inline static const CommandTypeId COMMAND_ID = "ENTITY_TO_POSITION";
    static constexpr int ERROR_CODE_UNREACHABLE = -1;
    static constexpr int ERROR_CODE_OUTSIDE_ZONE = -2;
    static constexpr int ERROR_CODE_ENTITY_REFLEXION_NOT_FOUND = -3;
    static constexpr int ERROR_CODE_TOO_CLOSE = -4;
 
    CommandEntityToPosition(
        const CscPoint3d *targetPosition,
        ptr<CscEntityReflexion> entityReflexion,
        CscArea3d *zone = nullptr,
        optional<double> distanceWithObjectAutorized = {},
        optional<int> matrixSize = {},
        const CscPoint3d *startPosition = nullptr,
        optional<bool> useGnssCoordinates = {},
        const vector<string> *placeModelIdsToIgnore = nullptr,
        optional<CommandEntityToPositionAlgorithm> algorithm = {});
 
    ~CommandEntityToPosition() override;
 
    void setDoNotPlayResult(bool value);
 
    void setDeletePointers(bool value);
 
    void setCartographyPoints(const vector<CscPoint3d *> *cartographyPoints);
 
protected:
    const CscCommandExecutionResultSequence *doExecute(CscEnvironmentSimulator &environmentSimulator) override;
    ptr<CscEntityReflexion> getEntityReflexion() const override;
 
private:
    CommandEntityToPositionAlgorithm algorithm;
    const CscPoint3d *targetPosition;
    ptr<CscEntityReflexion> entityReflexion;
    CscArea3d *zone;
    optional<double> distanceWithObjectAutorized;
    optional<int> matrixSize;
    const CscPoint3d *startPosition;
    optional<bool> useGnssCoordinates;
    const vector<string> *placeModelIdsToIgnore;
    bool doNotPlayResult = false;
    bool deletePointers = true;
    const vector<CscPoint3d *> *cartographyPoints = nullptr;
};
 
optional<CscPoint3d *> computeValidReachPosition(CommandEntityToPositionAlgorithm algorithm, ptr<CscEntityReflexion> entityReflexion, const CscPoint3d *startPosition, const CscPoint3d *targetPosition, optional<double> distanceWithObjectAutorizedMaybe, const vector<string> *, CscArea3d *zone, optional<int> matrixSizeMaybe, optional<bool> useGnssCoordinatesMaybe, CscEnvironmentSimulator &environmentSimulator);
 
CscPoint3d *evaluateEntityToPositionStartPosition(const CscPoint3d *requestedStartPosition, optional<bool> useGnssCoordinates, ptr<CscEntityReflexion> entityReflexion, CscEnvironmentSimulator &environmentSimulator);
 
COMMAND_TYPE_BUILDER(CommandEntityToPosition, CscPoint3d, double, double, double)
COMMAND_TYPE_BUILDER(CommandEntityToPosition, CscArea3d, double, double, double, double, double, double)
COMMAND_REGISTER(CommandEntityToPosition, const CscPoint3d *, ptr<CscEntityReflexion>, CscArea3d *, optional<double>, optional<int>, const CscPoint3d *, optional<bool>, const vector<string> *, optional<CommandEntityToPositionAlgorithm>)
 
}
 
#endif