PursuitTaskManager.hpp

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#ifndef LGL_PURSUIT_TASK_MANAGER_HPP
#define LGL_PURSUIT_TASK_MANAGER_HPP

#include <lgl/PursuitGraph.hpp>
#include <lgl/CellID.hpp>

//#include <boost/weak_ptr.hpp>

//#include <vector>

#ifndef PURSUIT_TASK_ID
#define PURSUIT_TASK_ID

typedef long int PursuitTask_ID ;

#endif

namespace jafar {
  namespace lgl {

    class PursuitTask {
    

      public : 
        // variables
        unsigned int  time ;        // when
        Cell_ID     place ;       // where
        int       asking_robot;   // ID of the robot who created the task
        PursuitTask_ID  id ;        // ID of the task
        // priority level ?
        int       robot_in_charge;  // ID of the robot in charge of the task


        PursuitTask() {}

        PursuitTask(
                unsigned int  _time,
                Cell_ID     _place,
                int       _asking_robot,
                PursuitTask_ID  _id,
                int       _robot_in_charge = -1
          ) :
            time (_time),
            place(_place),
            asking_robot(_asking_robot),
            id(_id),
            robot_in_charge( _robot_in_charge)
          { }
      
        ~PursuitTask() { }

        bool operator< (const PursuitTask &rhs) const ; 

        bool operator== (const PursuitTask &rhs) const ; 

    };

    struct PursuitTaskKey 
    {
      unsigned int  time ;        // when
      Cell_ID     place ;       // where

      bool operator< (const PursuitTaskKey &rhs) const
      {
        if ( time != rhs.time ) return ( time < rhs.time );
        else          return ( place < rhs.place );
      }

    };


    class PursuitTaskManager {
    
      private :
        int robotID ;     // ID of the owner

        PursuitTask_ID countTaskID ;  // counter for the pursuit task IDs 

        std::map< PursuitTaskKey, PursuitTask > oldTaskList ;
        std::map< PursuitTaskKey, PursuitTask > newTaskList ;

        std::vector< PursuitTask_ID > obsoleteTasks ;   // the tasks that are not needed anymore
        std::vector< PursuitTask_ID > nonattributedTasks ;  // the tasks for no robot is in charge with 

      public : 

        //PursuitTaskManager() { }
        PursuitTaskManager( int _robotID = -1 ) ;
      
        ~PursuitTaskManager() { }

        /*  Actions */
        void updateTaskList( const PursuitGraph *aPG) ;

    };

  }
}

#endif /* LGL_PURSUIT_TASK_MANAGER_HPP */