uwsc-mission-coordinator-module.h

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//
// Copyright (c) 2024 Regents of the SIGNET lab, University of Padova.
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
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// notice, this list of conditions and the following disclaimer.
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
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// names of its contributors may be used to endorse or promote products
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#ifndef UWMC_MODULE_H
#define UWMC_MODULE_H
#include <plugin.h>
#include <vector>
 
class UwMissionCoordinatorModule;
 
class UwMissionCoordinatorModule : public PlugIn
{
public:
    UwMissionCoordinatorModule();
 
    virtual ~UwMissionCoordinatorModule() = default;
 
    virtual int command(int argc, const char *const *argv) override;
 
    virtual int recvSyncClMsg(ClMessage *m) override;
 
protected:
    typedef struct Mine {
        enum MineState {
            MINE_TRACKED, 
            MINE_DETECTED, 
            MINE_REMOVED 
        };
 
        Position *track_position; 
        MineState state; 
        Mine(Position *p, MineState s)
            : track_position(p)
            , state(s)
        {
        }
    } Mine;
 
    typedef struct AUV_stats {
        int ctr_id; 
        int trk_id; 
        Position *rov_position; 
        std::vector<Mine> rov_mine; 
        int n_mines; 
        bool rov_status; 
        AUV_stats(int id_ctr, int id_trk)
            : ctr_id(id_ctr)
            , trk_id(id_trk)
            , rov_position(nullptr)
            , rov_mine()
            , n_mines(0)
            , rov_status(false)
        {
        }
 
    } AUV_stats;
 
    std::vector<AUV_stats> auv_follower; 
    void removeMine(int id);
 
    bool isTracked(Position *p) const;
};
 
#endif // UWMC_MODULE_H