pickup_station.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_PICKUP_STATION_H_
#define DAISI_PATH_PLANNING_PICKUP_STATION_H_
 
#include <queue>
 
#include "agv_info.h"
#include "agv_queue.h"
#include "agv_state.h"
#include "next_to_mode.h"
#include "ns3/vector.h"
#include "path_planning/consensus/consensus.h"
#include "path_planning/consensus/consensus_types.h"
#include "path_planning/consensus/paxos/constants.h"
#include "path_planning/consensus/paxos/message/accept_message.h"
#include "path_planning/consensus/paxos/message/ok_message.h"
#include "path_planning/consensus/paxos/message/prepare_message.h"
#include "path_planning/consensus/paxos/message/promise_message.h"
#include "path_planning/constants.h"
#include "path_planning/message/misc/new_authority_agv.h"
#include "path_planning/message/misc/reached_goal.h"
#include "path_planning/path_planning_logger_ns_3.h"
#include "path_planning/task.h"
#include "sola-ns3/sola_ns3_wrapper.h"
#include "station.h"
#include "transport_order_info.h"
 
namespace daisi::path_planning {
 
class PickupStation {
public:
  PickupStation(PickupStationInfo info, std::shared_ptr<PathPlanningLoggerNs3> logger,
                consensus::ConsensusSettings settings, NextTOMode next_to_mode, uint32_t device_id);
  void postInit();
  [[nodiscard]] std::string getConnectionString() const { return sola_->getConectionString(); }
 
  void setRoutes(StationRoutes routes);
  void setDeliveryStations(DeliveryStationPoints points);
 
  [[nodiscard]] size_t numberAGVAtStation() const;
 
  [[nodiscard]] PickupStationInfo getStationInfo() const { return info_; }
 
  void scheduleSpawnTO(uint32_t start_time, uint32_t stop_time,
                       std::function<TransportOrderInfo(void)> order_create);
 
private:
  [[nodiscard]] std::string getFullName() const;
 
  void spawnTO();
 
  void update(const std::string &agv_id);
 
  void addToAGVOwnership(const message::NewAuthorityAGV &msg);
 
  [[nodiscard]] std::optional<uint32_t> getRandomStationIfOtherSideNearer(
      uint32_t delivery_station_id);
 
  void negotiationGo(const std::string &agv_uuid);
 
  void processMessage(const sola::Message &msg);
 
  void processReachedGoal(const message::ReachedGoal &msg);
  void processNewAuthorityAGV(const message::NewAuthorityAGV &msg);
  void topicMessage(const sola::TopicMessage &msg);
 
  [[nodiscard]] ns3::Vector2D getNextPoint(AGVInfo &agv);
 
  void initiateConsensus(const std::string &agv_id, RouteIdentifier d);
  void initiateConsensusToDelivery(AGVInfo &agv);
  void initiateConsensusToPickup(AGVInfo &agv);
  void init();
 
  const uint32_t device_id_ = 0;
 
  PickupStationInfo info_;
 
  uint32_t current_delay_ = 0;  
  uint32_t retry_ = 1;          
 
  std::function<TransportOrderInfo()>
      create_order_;  
 
  AGVQueue queue_;
  uint32_t amrs_to_initialize_ = 0;
 
  uint32_t to_stop_time_ = 0;  
 
  std::shared_ptr<PathPlanningLoggerNs3> logger_;
  std::shared_ptr<sola_ns3::SOLAWrapperNs3> sola_;
 
  consensus::ConsensusSettings consensus_settings_;
  std::optional<consensus::Consensus> consensus_;  
 
  std::unordered_map<std::string, AGVInfo> agv_ownership_;  
 
  struct ConsensusData {
    std::string agv_uuid;
    PointTimePairs pairs;
  };
 
  std::optional<ConsensusData>
      current_consensus_;  
  NextTOMode next_to_mode_;
};
 
}  // namespace daisi::path_planning
 
#endif  // DAISI_PATH_PLANNING_PICKUP_STATION_H_