livepath.h

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/*
* Copyright 2015 Autodesk, Inc. All rights reserved.
* Use of this software is subject to the terms of the Autodesk license agreement and any attachments or Appendices thereto provided at the time of installation or download,
* or which otherwise accompanies this software in either electronic or hard copy form, or which is signed by you and accepted by Autodesk.
*/


// primary contact: GUAL - secondary contact: LAPA

#ifndef Navigation_LivePath_H
#define Navigation_LivePath_H

#include "gwnavruntime/path/path.h"
#include "gwnavruntime/path/pathvalidityinterval.h"

namespace Kaim
{

class Path;
class ChannelArray;
class Bot;
class IPathFinderQuery;

class LivePathOnPathCalculated : public IOnDone
{
public:
    LivePathOnPathCalculated(LivePath* livePath) : m_livePath(livePath) {}
    virtual ~LivePathOnPathCalculated() {}
    virtual void OnDone();
public:
    LivePath* m_livePath;
    Ptr<IOnDone> m_preSetOnDone;
};

enum PathFinderQueryStatus
{
    PathFinderQueryStatus_Idle,
    PathFinderQueryStatus_Computing,
};

enum PathSource
{
    PathSource_NoPath,                
    PathSource_PathFinderQueryResult, 
    PathSource_UserInjected,          
};


class LivePath
{
    KY_DEFINE_NEW_DELETE_OPERATORS(MemStat_Path)
    KY_CLASS_WITHOUT_COPY(LivePath)
public:
    // ---------------------------------- Main API Functions ----------------------------------

    LivePath();
    ~LivePath();

    void Clear();

    bool IsComputingNewPath() const;

    bool NeedToReplaceCurrentPathWithNewPath() const;

    // ---------------------------------- Getters ----------------------------------

    Path*                   GetFollowedPath()       const;
    PathSource              GetFollowedPathSource() const;
    PathValidityStatus      GetPathValidityStatus() const;
    const PathEventList&    GetPathEventList()      const;
    const IPathFinderQuery* GetPathFinderQuery()    const;
    ChannelArray*           GetChannelArray()       const;

    PathEventList&    GetPathEventList();
    UpperBoundType    GetUpperBoundType() const;

    // ---------------------------------- Path Following Control ----------------------------------

    void ForceValidityIntervalRecompute();

public://Internal
    void InjectUserPath(Path* newPath);

    void InjectPathFromPathFinderQueryOnDone(Path* newPath);

    template<class TraverseLogic>
    KyResult ReStartIntervalComputation(void* traverseLogicUserData, const PositionOnPath& targetOnPath,
        KyFloat32 minDistanceFromTargetOnPathBackward, KyFloat32 minDistanceFromTargetOnPathFrowaard);

    template<class TraverseLogic>
    KyResult ValidateForward(void* traverseLogicUserData, KyFloat32 minimumDistanceAdvancement,
        PathValidityInterval::FirstNewIntervalExtendedStatus* firstIntervalStatus);

    void* GetBotTraverseLogicUserData() const;
    void SetBotTraverseLogicUserData(void* traverseLogicUserData);

    void ReplaceCurrentPathWithNewPath();

private:
    void SetNewPath(Path* newPath, PathSource pathType);
    friend class Bot;
    void ClearFollowedPath();
    void ComputeNewPathAsync(IPathFinderQuery* pathFinderQuery);
    void CancelAsyncPathComputation();

public: // internal
    Bot* m_bot;

    Ptr<LivePathOnPathCalculated> m_onPathCalculated;

    Ptr<Path> m_followedPath;
    Ptr<Path> m_newPath; 

    PathSource m_pathType; 
    PathSource m_newPathSource; 
    PathFinderQueryStatus m_pathFinderQueryStatus;

    PathValidityInterval m_validityInterval;

    bool m_needToSendLivePathBlob; 
};

}

#include "gwnavruntime/path/livepath.inl"


#endif