RoboticLineSolverLP.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_ROBOTIC_LINE_SOLVER_LP_H
#define HLIDAC_PES_ROBOTIC_LINE_SOLVER_LP_H

#include <vector>
#include "Settings.h"
#include "RoboticLine.h"
#include "Solution/Solution.h"
#include "Shared/PrecalculatedMapping.h"
#include "ILPModel/ILPModel.h"
#include "ILPSolver/VariableMappingLP.h"
#include "ILPSolver/ConstraintsGenerator.h"
#include "HeuristicSolver/KnowledgeBase.h"

struct PartialSolution {
        std::vector<std::vector<Location*>> locs;
        std::vector<std::vector<RobotPowerMode*>> pwrms;
        std::vector<std::vector<Movement*>> mvs;
};

class RoboticLineSolverLP {
        public:
                RoboticLineSolverLP(Robot* r, const PartialSolution& ps, const PrecalculatedMapping& m);
                RoboticLineSolverLP(const RoboticLine& l, const PartialSolution& ps, const PrecalculatedMapping& m);

                Solution solve() const;

                void addCollisionResolution(Activity* i, Activity* j, const int32_t& multipleOfCycleTime);
        private:
                void addVariablesForSelectedDynamicActivities();
                void construct(const PrecalculatedMapping& m, bool addTimeLags = true);
                void checkArguments(const PrecalculatedMapping& m, const uint32_t& numberOfRobots = 1u) const;

                ILPModel mModel;
                VariableMappingLP mMapper;
                ConstraintsGenerator mGenerator;
                PartialSolution mPartialSolution;
};

#endif