PrecalculatedMapping.h

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/*
        This file is part of the EnergyOptimizatorOfRoboticCells program.

        EnergyOptimizatorOfRoboticCells 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, either version 3 of the License, or
        (at your option) any later version.

        EnergyOptimizatorOfRoboticCells 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 EnergyOptimizatorOfRoboticCells. If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef HLIDAC_PES_PRECALCULATED_MAPPING_H
#define HLIDAC_PES_PRECALCULATED_MAPPING_H

#include <map>
#include <set>
#include <vector>
#include <utility>
#include <unordered_map>
#include "RoboticLine.h"
#include "Shared/Utils.h"
#include "Solution/Solution.h"

namespace std {
        template <>
        struct hash<pair<uint32_t, uint32_t>> {
                size_t operator() (const pair<uint32_t, uint32_t>& p) const {
                        hash<uint64_t> h;
                        uint64_t v64 = pack(p.first, p.second);
                        return h(v64);
                }
        };

        template <>
        struct hash<pair<Location*, Location*>> {
                size_t operator() (const pair<Location*, Location*>& p) const {
                        hash<uint64_t> h;
                        uint64_t v64 = pack(p.first->point(), p.second->point());
                        return h(v64);
                }
        };
}

using SpatialCmpTuple = std::tuple<uint32_t, uint32_t, StaticActivity*, StaticActivity*, std::vector<std::pair<Location*, Location*>>>;

struct PrecalculatedMapping {
        std::map<uint32_t, Activity*> aidToActivity;
        std::map<uint32_t, Location*> pointToLocation;
        std::unordered_map<std::pair<uint32_t, uint32_t>, Movement*> pointsToMovement;
        std::unordered_map<std::pair<Location*, Location*>, Movement*> locationsToMovement;
        std::map<uint32_t, std::vector<uint32_t> > pointToPredecessorPoints;
        std::map<uint32_t, std::vector<uint32_t> > pointToSuccessorPoints;
        std::map<StaticActivity*, std::map<StaticActivity*, std::vector<std::pair<Location*, Location*>>>> sptComp;
        std::vector<SpatialCmpTuple> sptCompVec;
        std::map<Movement*, std::tuple<std::vector<double>, std::vector<double>>> mvToEnergyFunc;
        std::map<std::pair<Location*, RobotPowerMode*>, std::tuple<std::vector<double>, std::vector<double>>> locToEnergyFunc;
        std::map<ActivityMode*, std::set<ActivityMode*>> collisionSearch;
        std::map<Activity*, std::vector<TimeLag>> timeLagsFromAct;
        std::map<Activity*, std::vector<TimeLag>> timeLagsToAct;
};

Movement* getSelectedMovement(const Solution& s, const PrecalculatedMapping& m, DynamicActivity* da);

template <class X, class Y>
extern std::vector<Movement*> findMovements(X from, Y to);

#endif