public Route get_van_route(int van_id)
{
var db = Database.Open("vane");
// we want to get van_route. First and foremost, check that this van_id exists
if (db.QueryValue("SELECT Count (*) FROM recent_reading WHERE van_id = @0", van_id) == 0)
{
return(new Route());
}
// check that the last check in time was less than 30 seconds.
// TODO(emad): since we're not gonna have live data to demo, so avoid doing this, now
var q = db.QuerySingle("SELECT lon, lat, time FROM recent_reading WHERE van_id = @0", van_id);
Coord last_seen = new Coord(Convert.ToDouble(q.lat), Convert.ToDouble(q.lon));
db.Close();
// now check if this van's data has already been loaded - should be true.
if (van_route.ContainsKey(van_id))
{
return(van_route[van_id].get_sub_route(last_seen));
}
else
{
FullRoute fr = new FullRoute(van_id);
van_route[van_id] = fr;
return(fr.get_sub_route(last_seen));
}
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="localRoute"></param>
/// <param name="bestFullRoute"></param>
/// <param name="vehicleState"></param>
/// <param name="maneuver"></param>
public AiRemoteListener(Routes localRoute, FullRoute bestFullRoute, VehicleState vehicleState, Behavior behavior,
IPath path, DynamicObstacles dynamicObstacles, StaticObstacles staticObstacles)
{
this.LocalRoute = localRoute;
this.BestFullRoute = bestFullRoute;
this.VehicleState = vehicleState;
this.behavior = behavior;
this.path = path;
this.DynamicObstacles = dynamicObstacles;
this.StaticObstacles = staticObstacles;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="localRoute"></param>
/// <param name="bestFullRoute"></param>
/// <param name="vehicleState"></param>
/// <param name="maneuver"></param>
public AiRemoteListener(Routes localRoute, FullRoute bestFullRoute, VehicleState vehicleState, Behavior behavior,
IPath path, DynamicObstacles dynamicObstacles, StaticObstacles staticObstacles)
{
this.LocalRoute = localRoute;
this.BestFullRoute = bestFullRoute;
this.VehicleState = vehicleState;
this.behavior = behavior;
this.path = path;
this.DynamicObstacles = dynamicObstacles;
this.StaticObstacles = staticObstacles;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="currentArbiterState"></param>
/// <param name="internalCarMode"></param>
/// <param name="fullRoute"></param>
/// <param name="routeTime"></param>
/// <param name="actionPoint"></param>
/// <param name="currentGoal"></param>
/// <param name="goals"></param>
/// <param name="behavior"></param>
public ArbiterInformation(string currentArbiterState, CarMode internalCarMode, FullRoute fullRoute, double routeTime,
RndfWaypointID actionPoint, RndfWaypointID currentGoal, Queue<RndfWaypointID> goals, Behavior behavior, VehicleState planningState)
{
this.CurrentArbiterState = currentArbiterState;
this.InternalCarMode = internalCarMode;
this.FullRoute = fullRoute;
this.RouteTime = routeTime;
this.ActionPoint = actionPoint;
this.CurrentGoal = currentGoal;
this.Goals = goals;
this.Behavior = behavior;
this.PlanningState = planningState;
}
public void new_reading(Coord c, int van_id)
{
if (van_route.ContainsKey(van_id))
{
van_route[van_id].update_new_loc(c);
}
else
{
FullRoute fr = new FullRoute(van_id);
van_route[van_id] = fr;
van_route[van_id].update_new_loc(c);
}
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="currentArbiterState"></param>
/// <param name="internalCarMode"></param>
/// <param name="fullRoute"></param>
/// <param name="routeTime"></param>
/// <param name="actionPoint"></param>
/// <param name="currentGoal"></param>
/// <param name="goals"></param>
/// <param name="behavior"></param>
public ArbiterInformation(string currentArbiterState, CarMode internalCarMode, FullRoute fullRoute, double routeTime,
RndfWaypointID actionPoint, RndfWaypointID currentGoal, Queue <RndfWaypointID> goals, Behavior behavior, VehicleState planningState)
{
this.CurrentArbiterState = currentArbiterState;
this.InternalCarMode = internalCarMode;
this.FullRoute = fullRoute;
this.RouteTime = routeTime;
this.ActionPoint = actionPoint;
this.CurrentGoal = currentGoal;
this.Goals = goals;
this.Behavior = behavior;
this.PlanningState = planningState;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="expandedRoute"></param>
/// <param name="localRoute"></param>
public Route(FullRoute expandedRoute, LocalRoute localRoute, Goal goal)
{
this.expandedRoute = expandedRoute;
this.localRoute = localRoute;
this.goal = goal;
}
public RouteDisplay(RndfNetwork rndf, FullRoute route)
{
this.rndf = rndf;
this.route = route;
}
public RouteDisplay(RndfNetwork rndf, FullRoute route)
{
this.rndf = rndf;
this.route = route;
}
