navigation_border_observer.h

Go to the documentation of this file.

/********************************************************************************
 * Copyright (C) 2017-2020 German Aerospace Center (DLR). 
 * Eclipse ADORe, Automated Driving Open Research https://eclipse.org/adore
 *
 * This program and the accompanying materials are made available under the 
 * terms of the Eclipse Public License 2.0 which is available at
 * http://www.eclipse.org/legal/epl-2.0.
 *
 * SPDX-License-Identifier: EPL-2.0 
 *
 * Contributors: 
 *   Robert Markowski - initial API and implementation
 ********************************************************************************/
 
 
#pragma once
 
#include "adore/mad/com_patterns.h"
#include "adore/env/borderbased/borderset.h"
#include "adore/env/borderbased/border_observer.h"
 
namespace adore
{
  namespace env
  {
    namespace BorderBased
    {
            class NavigationBorderObserver : public BorderObserver
            {
              private:
                bool m_changedBordersDuringLastUpdate;
                bool m_finishedUpdating;
              
        public:
                NavigationBorderObserver()
                {
                    m_changedBordersDuringLastUpdate = false;
                    m_finishedUpdating = false;
                }
                void init(BorderSet * set)
                {
                    set->deepBorderCopy(*dynamic_cast<BorderSet*>(this));
                    //auto it = set.getAllBorders();
                    //for(;it.first!=it.second;it.first++)
                    //{
                    //  auto border = it.first->second;
                    //  insert_border(new Border(*border));
                    //}
                }
                virtual void update() override
                {
                    bool relevantUpdateFound = false;
                    while (feed_->hasNext())
                    {
                        /*
                            getting old ID and new border
                            check whether there is a relevant change in the borderset (new border added or relevant type change)
                            delete border with old ID
                         */
                        // reading feed
                        Border* b = new Border();
                        BorderID oldID;
                        feed_->getNext(*b);
                        LOG_T("Nav received: %s\t%i", b->m_id.toString().c_str(), static_cast<int>(b->m_type));
 
                        // process feed information
                        // if the current border has a relevant type and doesn't exist in border set, a relevant update was found
                        if(b->typeIsChangeable() && !hasBorder(b))
                        {                           
                            relevantUpdateFound = true;
                        }
                        // if oldID exists in border set, remove border with that id
                        if(hasBorder(oldID))
                        {
                            erase_border(oldID);
                        }
                        insert_border(b,true);
                    }
                    m_finishedUpdating = !relevantUpdateFound && m_changedBordersDuringLastUpdate;
                    m_changedBordersDuringLastUpdate = relevantUpdateFound;
                }
                bool navigationReplanningNecessary()
                {
                    return m_finishedUpdating;
                }
            };
    }
  }
}