border_observer.h

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/********************************************************************************
 * Copyright (C) 2017-2020 German Aerospace Center (DLR). 
 * Eclipse ADORe, Automated Driving Open Research https://eclipse.org/adore
 *
 * This program and the accompanying materials are made available under the 
 * terms of the Eclipse Public License 2.0 which is available at
 * http://www.eclipse.org/legal/epl-2.0.
 *
 * SPDX-License-Identifier: EPL-2.0 
 *
 * Contributors: 
 *   Robert Markowski - initial API and implementation
 ********************************************************************************/
 
#pragma once
 
#include "adore/env/borderbased/borderset.h"
#include "adore/mad/com_patterns.h"
#include <list>
#include <unordered_map>
 
namespace adore
{
    namespace env
    {
        namespace BorderBased
        {
            class BorderObserver :public adore::mad::ALocalObserver<Border>,public BorderSet
            {
            public:
                BorderObserver()
                {
                }
                void update() override
                {
                    while (feed_->hasNext())
                    {
                        Border* b = new Border();
                        BorderID oldID;
                        feed_->getNext(*b);
                        auto result = m_byID.find(oldID);
                        if (result!=m_byID.end())//object exists => delete and create new
                        {
                            erase_border(oldID);
                        }
 
                        insert_border(b);
                    }
                }
 
                void discard_radius_based(double x, double y, double z, double radius) override
                {
          removeBorders(
            getBordersOutsideRegion(  x-radius,
                                      x+radius,
                                      y-radius,
                                      y+radius)
          );
                }
 
        void addFeed(adore::mad::AFeed<Border> * feed)
        {
          feed_ = feed;
        }
 
            };
        }
    }
}