cartographyCommands.h

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#ifndef cartographyCommands_h
#define cartographyCommands_h
 
#include "CommandCommons.h"
 
namespace conscience_core::bridging::commands::cartography {
 
class CSC_DLL_IMPORTEXPORT CommandCartographySave : public CscCommand {
 
public:
    inline static const CommandTypeId COMMAND_ID = "CARTOGRAPHY_SAVE";
 
    CommandCartographySave(const vector<CscLine3d *> &lines);
 
    ~CommandCartographySave() override;
 
protected:
    const CscCommandExecutionResultNone *doExecute(CscEnvironmentSimulator &environmentSimulator) override;
    ptr<CscEntityReflexion> getEntityReflexion() const override;
 
private:
    const vector<CscLine3d *> lines;
};
COMMAND_TYPE_BUILDER(CommandCartographySave, CscLine3d, CscPoint3d *, CscPoint3d *)
COMMAND_REGISTER(CommandCartographySave, const vector<CscLine3d *> &)
 
 
class CSC_DLL_IMPORTEXPORT CommandCartographyGet : public CscCommand {
 
public:
    inline static const CommandTypeId COMMAND_ID = "CARTOGRAPHY_GET";
 
    CommandCartographyGet(ptr<CscEntityReflexion> entityReflexion);
    ~CommandCartographyGet() override;
 
protected:
    const CscCommandExecutionResultList<CscPoint3d> *doExecute(CscEnvironmentSimulator &environmentSimulator) override;
    ptr<CscEntityReflexion> getEntityReflexion() const override;
 
private:
    ptr<CscEntityReflexion> entityReflexion;
};
COMMAND_REGISTER(CommandCartographyGet, ptr<CscEntityReflexion>)
 
 
class CSC_DLL_IMPORTEXPORT CommandCartographySet : public CscCommand {
 
public:
    inline static const CommandTypeId COMMAND_ID = "CARTOGRAPHY_SET";
 
    CommandCartographySet(ptr<CscEntityReflexion> entityReflexion, const vector<const CscPoint3d *> &points);
    ~CommandCartographySet() override;
 
protected:
    const CscCommandExecutionResultNone *doExecute(CscEnvironmentSimulator &environmentSimulator) override;
    ptr<CscEntityReflexion> getEntityReflexion() const override;
 
private:
    ptr<CscEntityReflexion> entityReflexion;
    vector<const CscPoint3d *> points;
};
COMMAND_TYPE_BUILDER(CommandCartographySet, CscPoint3d, double, double, double)
COMMAND_REGISTER(CommandCartographySet, ptr<CscEntityReflexion>, const vector<const CscPoint3d *> &)
 
ENUM(CscCartographyManagementActionType,
     Start,
     Clear,
     Pause,
     Resume,
     StopAndSave);
 
struct CSC_DLL_IMPORTEXPORT CartographyManagementCommandDataType {
    CartographyManagementCommandDataType();
 
    CartographyManagementCommandDataType(
        ptr<CscEntityReflexion> entityReflexion,
        CscCartographyManagementActionType actionType);
 
    virtual ~CartographyManagementCommandDataType();
 
    ptr<CscEntityReflexion> entityReflexion;
    CscCartographyManagementActionType actionType;
};
 
class CSC_DLL_IMPORTEXPORT CommandCartographyManagement : public CscCommand {
 
public:
    inline static const CommandTypeId COMMAND_ID = "CARTOGRAPHY_MANAGEMENT";
 
    CommandCartographyManagement(const CartographyManagementCommandDataType *cartographyManagementData);
 
    ~CommandCartographyManagement() override;
 
    const CartographyManagementCommandDataType *const cartographyManagementData;
 
protected:
    const CscCommandExecutionResultNone *doExecute(CscEnvironmentSimulator &environmentSimulator) override;
    ptr<CscEntityReflexion> getEntityReflexion() const override;
 
private:
};
 
COMMAND_TYPE_BUILDER(CartographyManagement, CartographyManagementCommandDataType, ptr<CscEntityReflexion>, CscCartographyManagementActionType)
COMMAND_REGISTER(CommandCartographyManagement, const CartographyManagementCommandDataType *)
 
 
class CSC_DLL_IMPORTEXPORT CommandCartographyLoad : public CscCommand {
 
public:
    inline static const CommandTypeId COMMAND_ID = "CARTOGRAPHY_LOAD";
 
    CommandCartographyLoad(ptr<CscEntityReflexion> entityReflexion, const optional<string> &cartoFolderPath = nullopt);
 
    ~CommandCartographyLoad() override;
 
protected:
    const CscCommandExecutionResultNone *doExecute(CscEnvironmentSimulator &environmentSimulator) override;
    ptr<CscEntityReflexion> getEntityReflexion() const override;
 
private:
    ptr<CscEntityReflexion> entityReflexion;
    optional<string> cartoFolderPath;
};
 
COMMAND_REGISTER(CommandCartographyLoad, ptr<CscEntityReflexion>, const optional<string> &)
 
 
class CSC_DLL_IMPORTEXPORT CommandLidarValuesRecordStart : public CscCommand {
 
public:
    inline static const CommandTypeId COMMAND_ID = "LIDAR_VALUES_RECORD_START";
 
    CommandLidarValuesRecordStart(ptr<CscEntityReflexion> entityReflexion);
 
    ~CommandLidarValuesRecordStart() override = default;
 
protected:
    const CscCommandExecutionResultNone *doExecute(CscEnvironmentSimulator &environmentSimulator) override;
    ptr<CscEntityReflexion> getEntityReflexion() const override;
 
private:
    ptr<CscEntityReflexion> entityReflexion;
};
COMMAND_REGISTER(CommandLidarValuesRecordStart, ptr<CscEntityReflexion>)
 
 
class CSC_DLL_IMPORTEXPORT CommandLidarValuesRecordStop : public CscCommandTypedResult<CscCommandExecutionResultList<string>> {
 
public:
    inline static const CommandTypeId COMMAND_ID = "LIDAR_VALUES_RECORD_STOP";
 
    CommandLidarValuesRecordStop(ptr<CscEntityReflexion> entityReflexion);
 
    ~CommandLidarValuesRecordStop() override = default;
 
protected:
    const CscCommandExecutionResultList<string> *doExecute(CscEnvironmentSimulator &environmentSimulator) override;
    ptr<CscEntityReflexion> getEntityReflexion() const override;
 
private:
    ptr<CscEntityReflexion> entityReflexion;
};
COMMAND_REGISTER(CommandLidarValuesRecordStop, ptr<CscEntityReflexion>)
 
 
class CSC_DLL_IMPORTEXPORT CommandLidarValuesRecordDownloadAndBuildCartography : public CscCommandTypedResult<CscCommandExecutionResultNone> {
 
public:
    inline static const CommandTypeId COMMAND_ID = "LIDAR_VALUES_RECORD_DOWNLOAD_AND_BUILD_CARTOGRAPHY";
 
    CommandLidarValuesRecordDownloadAndBuildCartography(ptr<CscEntityReflexion> entityReflexion, const string &targetPath);
 
    ~CommandLidarValuesRecordDownloadAndBuildCartography() override = default;
 
protected:
    const CscCommandExecutionResultNone *doExecute(CscEnvironmentSimulator &environmentSimulator) override;
    ptr<CscEntityReflexion> getEntityReflexion() const override;
 
private:
    ptr<CscEntityReflexion> entityReflexion;
    const string targetPath;
 
    bool downloadAndBuildCartography(CscEnvironmentSimulator &environmentSimulator, const std::vector<std::string> &storageFilePaths);
};
COMMAND_REGISTER(CommandLidarValuesRecordDownloadAndBuildCartography, ptr<CscEntityReflexion>, const string &)
 
ENUM( CartographyNetworkPushCompression, CARTO_NET_PUSH_COMPRESSION_LZ4, CARTO_NET_PUSH_COMPRESSION_NONE)
 
struct CSC_DLL_IMPORTEXPORT CommandCartographyNetworkPushParams {
public:
    CommandCartographyNetworkPushParams(
        const string &targetIpAddress, unsigned int targetPort,
        optional<double> periodMillis = {}, optional<CartographyNetworkPushCompression> compression = {});
 
    string targetIpAddress;
    unsigned targetPort;
    double periodMillis;
    CartographyNetworkPushCompression compression;
};
 
class CSC_DLL_IMPORTEXPORT CommandCartographyNetworkPush : public CscCommandTypedResult<CscCommandExecutionResultString> {
public:
    inline static const CommandTypeId COMMAND_ID = "CARTOGRAPHY_NETWORK_PUSH";
 
    CommandCartographyNetworkPush(ptr<CscEntityReflexion> entityReflexion, CommandCartographyNetworkPushParams *params);
    ~CommandCartographyNetworkPush() override;
 
protected:
    const CscCommandExecutionResultString *doExecute(CscEnvironmentSimulator &environmentSimulator) override;
 
    ptr<CscEntityReflexion> getEntityReflexion() const override;
 
    ptr<CscEntityReflexion> entityReflexion;
    CommandCartographyNetworkPushParams *params = nullptr;
    std::unique_ptr<CscLogger> logger = CscLogger::getForCategory("CommandCartographyNetworkPush");
};
 
class CSC_DLL_IMPORTEXPORT CommandCartographyNetworkPushStop : public CscCommandTypedResult<CscCommandExecutionResultString> {
public:
    inline static const CommandTypeId COMMAND_ID = "CARTOGRAPHY_NETWORK_PUSH_STOP";
 
    CommandCartographyNetworkPushStop(ptr<CscEntityReflexion> entityReflexion, const string &targetIpAddress, unsigned targetPort);
 
protected:
    const CscCommandExecutionResultString *doExecute(CscEnvironmentSimulator &environmentSimulator) override;
 
    ptr<CscEntityReflexion> getEntityReflexion() const override;
 
    ptr<CscEntityReflexion> entityReflexion;
    string targetIpAddress;
    unsigned targetPort;
    std::unique_ptr<CscLogger> logger = CscLogger::getForCategory("CommandCartographyNetworkPushStop");
};
 
COMMAND_TYPE_BUILDER(CommandCartographyNetworkPush, CommandCartographyNetworkPushParams, const string &, unsigned int, optional<double>, optional<CartographyNetworkPushCompression>)
COMMAND_REGISTER(CommandCartographyNetworkPush, ptr<CscEntityReflexion>, CommandCartographyNetworkPushParams *)
COMMAND_REGISTER(CommandCartographyNetworkPushStop, ptr<CscEntityReflexion>, const string &, unsigned int)
 
}
 
#endif