std::string MotionPlannerInterface::Plan(MilestonePath& path,const HaltingCondition& cond)
{
path.edges.clear();
bool foundPath = false;
Real lastCheckTime = 0, lastCheckValue = 0;
Timer timer;
for(int iters=0;iters<cond.maxIters;iters++) {
Real t=timer.ElapsedTime();
if(t > cond.timeLimit) {
if(foundPath) {
//get the final path
GetSolution(path);
}
return "timeLimit";
}
//check for cost improvements
if(foundPath && t > lastCheckTime + cond.costImprovementPeriod) {
GetSolution(path);
Real len = path.Length();
if(len < cond.costThreshold)
return "costThreshold";
if(lastCheckValue - len < cond.costImprovementThreshold)
return "costImprovementThreshold";
lastCheckTime = t;
lastCheckValue = len;
}
//do planning, check if a path is found
PlanMore();
if(!foundPath) {
if(IsSolved()) {
foundPath = true;
GetSolution(path);
if(cond.foundSolution) {
return "foundSolution";
}
lastCheckTime = t;
lastCheckValue = path.Length();
}
}
}
if(foundPath) {
//get the final path
GetSolution(path);
}
return "maxIters";
}
bool
AirspaceWarning::operator<(const AirspaceWarning &other) const
{
// compare bother.ack
if (IsAckExpired() != other.IsAckExpired())
// least expired top
return IsAckExpired() > other.IsAckExpired();
// compare bother.state
if (GetWarningState() != other.GetWarningState())
// most severe top
return GetWarningState() > other.GetWarningState();
// state and ack equal, compare bother.time to intersect
return GetSolution().elapsed_time < other.GetSolution().elapsed_time;
}
void
AirspaceWarningMonitor::Check()
{
const auto &calculated = CommonInterface::Calculated();
if (widget == nullptr && calculated.airspace_warnings.latest == last)
return;
/* there's a new airspace warning */
last = calculated.airspace_warnings.latest;
auto *airspace_warnings = GetAirspaceWarnings();
if (airspace_warnings == nullptr) {
HideWidget();
return;
}
if (!HasPointer()) {
/* "classic" list-only view for devices without touch screen */
if (dlgAirspaceWarningVisible())
/* already visible */
return;
// un-blank the display, play a sound
ResetUserIdle();
PlayResource(_T("IDR_WAV_BEEPBWEEP"));
// show airspace warnings dialog
if (CommonInterface::GetUISettings().enable_airspace_warning_dialog)
dlgAirspaceWarningsShowModal(*airspace_warnings, true);
return;
}
const AbstractAirspace *airspace = nullptr;
AirspaceWarning::State state;
AirspaceInterceptSolution solution;
{
const ProtectedAirspaceWarningManager::Lease lease(*airspace_warnings);
auto w = lease->begin();
if (w != lease->end() && w->IsAckExpired()) {
airspace = &w->GetAirspace();
state = w->GetWarningState();
solution = w->GetSolution();
}
}
if (airspace == nullptr) {
HideWidget();
return;
}
if (CommonInterface::GetUISettings().enable_airspace_warning_dialog) {
/* show airspace warning */
if (widget != nullptr) {
if (widget->Update(*airspace, state, solution))
return;
HideWidget();
}
widget = new AirspaceWarningWidget(*this, *airspace_warnings,
*airspace, state, solution);
PageActions::SetCustomBottom(widget);
}
// un-blank the display, play a sound
ResetUserIdle();
PlayResource(_T("IDR_WAV_BEEPBWEEP"));
}
