RendezvousPlan.h

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/*
 * Copyright (c) 2023, Alysson Ribeiro da Silva
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
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 * 1. Redistributions of source code must retain the above copyright notice, this
 *    list of conditions and the following disclaimer.
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 * 2. Redistributions in binary form must reproduce the above copyright notice,
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 * 3. All advertising materials mentioning features or use of this software must
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 *    This product includes software developed by Alysson Ribeiro da Silva.
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 * 5. The source and the binary form, and any modifications made to them
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#include <vector>
#include "tf/tf.h"
#include "ros/ros.h"
 
struct agreement_el {
    int participate;
    double timer;
};
 
class RendezvousPlan {
    public:
        RendezvousPlan(ros::NodeHandle& nodeHandle, const int& id);
        ~RendezvousPlan();
 
        int GetCurrentAgreement();
        double GetCurrentAgreementTimer();
        bool CheckConsensusCurrentPlan();
 
        void InitializeLocation(tf::Vector3 location);
        void Update(const double& deltaTime);
        bool ShouldFulfillAgreement();
        void SetNextAgreement();
        void UpdateCurrentAgreementLocation(tf::Vector3 newLocation);
        tf::Vector3 GetCurrentAgreementLocation();
        void PrintLocations();
        void Print();
        void PrintCurrent();
        void PrintRealization();
        int GetCurrentAgreementUniqueID();
        int GetCurrentAgreementConsensusID();
 
        // relization
        void RealizePlan(const int& robotId);
        void ResetPlanRealization();
        bool WasPlanRealized();
 
        std::vector<int>* GetPlanPtr();
        
    private:
        std::string GenerateAgreementKey(const int& index);
 
        int id, width;
        int current_agreement;
        double current_timer;
        std::vector< std::pair<int, std::vector<agreement_el>> > agreements;
        std::map<std::string, tf::Vector3> agreements_locations;
 
        std::vector<std::vector<agreement_el>> agreementsIParticipate;
 
        std::vector<int> currentPlanRealization;
};