CscRealEntityMessageHandler.h

Go to the documentation of this file.

#ifndef CscRealEntityMessageHandler_h
#define CscRealEntityMessageHandler_h
 
#include "Communication/CscMessageHandler.h"
#include <Simulator/CscEnvironmentSimulator.h>
#include "ArtificialIntelligence/CscEntityReflexion.h"
#include "Lidar/CscRealEntity3dLidarValues.h"
 
#include <Axiomes/Csc3dTypes.h>
#include <mutex>
 
using namespace conscience_core::communication;
using std::unordered_map, std::mutex, std::unique_lock;
using namespace conscience_core::axiomes;
 
namespace conscience_core::core_objects::entities {
 
struct CSC_DLL_IMPORTEXPORT EntityReflexionWithOptions {
    ptr<CscEntityReflexion> entityReflexion;
 
    bool isItFirstLoad;
 
    bool isStartPersistedCommandNeeded;
};
 
class CSC_DLL_IMPORTEXPORT CscRealEntityMessageHandler : public CscMessageHandler {
public:
    CscRealEntityMessageHandler(bool ignoreNewEntity, CscEnvironmentSimulator &environmentSimulator);
    ~CscRealEntityMessageHandler();
 
    std::tuple<bool, optional<CscMessageHandlerResult>, optional<string>> handleMessage(const string &rawMessage, ptr<CscMessagingRequestContext> context) override;
 
    optional<CscMessageHandlerResult> handleMessage(const string &messageSubject, const vector<string> &args, optional<int> knowledgeId, ptr<CscMessagingRequestContext> context) override;
 
    optional<string> handleLowLevelMessage(const string &message) override;
 
    static bool handleFullStatus(const vector<string> *commandArguments);
    static bool handleCurrentLidar(const vector<string> &commandArguments);
    static void sendPositionToEntity(const CscPoint3dOriented *position, const string &serialNumber, const string &timeStampParams = "");
    static void sendPositionToEntity(const CscPoint3dOriented *position, const ptr<CscEntityReflexion> &entityReflexion, const string &timeStampParams = "");
    static void sendLiveTargetForSlaveUpdate(const CscPoint3d *position, const string serialNumber, float distance, float altitudeToFollow);
    static void sendSequenceStop(const string &serialNumber);
 
    static EntityReflexionWithOptions handleMyProfile(const vector<string> &commandArguments, CscEnvironmentSimulator &env, string remoteIp, int remotePort, bool ignoreNewEntity = false);
 
private:
    inline static unordered_map<string, mutex> fullStatusHandlingMutexesBySerialNumber;
 
    static void performStateFromFullstatus(const vector<string> *commandArguments);
    static void performAdditionalParamsFromFullstatus(const vector<string> *commandArguments);
    static CscPoint3dOriented *getXYZPositionFromFullstatus(const vector<string> *commandArguments);
    static CscPoint3dOriented *getGnssPositionFromFullstatus(const vector<string> *commandArguments);
 
    bool ignoreNewEntity;
 
    CscEnvironmentSimulator &environmentSimulator;
};
 
}
 
#endif