threaded_ai.h

#pragma once
 
#include <mutex>
 
#include "proto/parameters.pb.h"
#include "proto/play.pb.h"
#include "proto/play_info_msg.pb.h"
#include "proto/tactic.pb.h"
#include "proto/tbots_software_msgs.pb.h"
#include "software/ai/ai.h"
#include "software/multithreading/first_in_first_out_threaded_observer.h"
#include "software/multithreading/subject.hpp"
#include "software/world/world.h"
 
class ThreadedAi : public FirstInFirstOutThreadedObserver<World>,
                   public FirstInFirstOutThreadedObserver<TbotsProto::ThunderbotsConfig>,
                   public Subject<TbotsProto::PrimitiveSet>,
                   public Subject<TbotsProto::PlayInfo>
{
   public:
    ThreadedAi() = delete;
 
    explicit ThreadedAi(const TbotsProto::AiConfig& ai_config);
 
    void overridePlay(TbotsProto::Play play_proto);
 
    void overrideTactics(
        TbotsProto::AssignedTacticPlayControlParams assigned_tactic_play_control_params);
 
   private:
    void onValueReceived(World world) override;
    void onValueReceived(TbotsProto::ThunderbotsConfig config) override;
 
    void runAiAndSendPrimitives(const WorldPtr& world_ptr);
 
    Ai ai;
    TbotsProto::AiConfig ai_config;
    TbotsProto::AiControlConfig ai_control_config;
    std::mutex ai_mutex;
};