central_server.h

// Copyright 2023 The SOLA authors
//
// This file is part of DAISI.
//
// DAISI is free software: you can redistribute it and/or modify it under the terms of the GNU
// General Public License as published by the Free Software Foundation; version 2.
//
// DAISI is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even
// the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
// Public License for more details.
//
// You should have received a copy of the GNU General Public License along with DAISI. If not, see
// <https://www.gnu.org/licenses/>.
//
// SPDX-License-Identifier: GPL-2.0-only
 
#ifndef DAISI_PATH_PLANNING_CONSENSUS_CENTRAL_SERVER_H_
#define DAISI_PATH_PLANNING_CONSENSUS_CENTRAL_SERVER_H_
 
#include <memory>
#include <set>
 
#include "cpps/common/cpps_logger_ns3.h"
#include "path_planning/constants.h"
#include "path_planning/path_planning_logger_ns_3.h"
#include "solanet/network_udp/network_udp.h"
 
namespace daisi::path_planning::consensus {
class CentralServer {
public:
  CentralServer(CentralSettings settings, std::shared_ptr<PathPlanningLoggerNs3> logger);
 
  void setIntersections(const std::set<PPVector> &intersections);
 
private:
  std::unique_ptr<solanet::Network> network_;  
 
  void processMessage(const solanet::Message &msg);
 
  IntersectionOccupancy
      intersection_occupancy_;  
 
  CentralSettings settings_;
  std::shared_ptr<PathPlanningLoggerNs3> logger_;
};
 
}  // namespace daisi::path_planning::consensus
 
#endif  // DAISI_PATH_PLANNING_CONSENSUS_CENTRAL_SERVER_H_