OpenSim.Modules.PathFinding/src/BasicPathFinding.cs

using log4net;
using Mono.Addins;
using Nini.Config;
using OpenMetaverse;
using OpenSim.Region.CoreModules.World.LegacyMap;
using OpenSim.Region.Framework.Interfaces;
using OpenSim.Region.Framework.Scenes;
using OpenSim.Region.ScriptEngine.Interfaces;
using OpenSim.Region.ScriptEngine.Shared.Api;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Drawing.Imaging;
using System.Reflection;
using System.Threading;

[assembly: Addin("BasicPathFindingModule", "0.1")]
[assembly: AddinDependency("OpenSim.Region.Framework", OpenSim.VersionInfo.VersionNumber)]
namespace OpenSim.Modules.PathFinding
{
    [Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule", Id = "BasicPathFindingModule")]

    public class BasicPathFindingModule : INonSharedRegionModule
    {
        #region Region Module
        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);

        private Scene m_scene = null;
        private IConfig m_config = null;
        private bool m_enabled = true;
        private string m_dataDirectory = "./PathFindingData";
        private IScriptModuleComms m_scriptModule;

        private List<Environment> m_environments = new List<Environment>();

        public string Name
        {
            get { return "BasicPathFindingModule"; }
        }

        public Type ReplaceableInterface
        {
            get { return null; }
        }

        public void AddRegion(Scene scene)
        {

        }

        public void Close()
        {

        }

        public void Initialise(IConfigSource source)
        {
            try
            {
                m_config = source.Configs["XEngine"];

                if (m_config != null)
                {
                    m_dataDirectory = m_config.GetString("PathFindingDataDirectory", m_dataDirectory);
                    m_enabled = m_config.GetBoolean("EnablePathFinding", m_enabled);
                }
                else
                {
                    m_log.Error("[" + Name + "]: Cant find config.");
                }
            }
            catch (Exception e)
            {
                m_log.ErrorFormat("[" + Name + "]: initialization error: {0}", e.Message);
                return;
            }

            if (m_enabled)
            {
                m_log.Info("[" + Name + "]: module is enabled");
            }
            else
            {
                m_log.Info("[" + Name + "]: module is disabled");
            }
        }

        public void RegionLoaded(Scene scene)
        {
            if (m_enabled)
            {
                m_log.Info("[" + Name + "]: Load region " + scene.Name);

                m_scene = scene;
                m_scriptModule = m_scene.RequestModuleInterface<IScriptModuleComms>();
                if (m_scriptModule == null)
                {
                    m_log.ErrorFormat("[" + Name + "]: Failed to load IScriptModuleComms!");
                    m_enabled = false;
                    return;
                }

                try
                {
                    m_scriptModule.RegisterScriptInvocation(this, "osGeneratePathEnv");
                    m_scriptModule.RegisterScriptInvocation(this, "osKeepAlivePathEnv");
                    m_scriptModule.RegisterScriptInvocation(this, "osSetPositionData");
                    m_scriptModule.RegisterScriptInvocation(this, "osGeneratePath");

                    m_scriptModule.RegisterScriptInvocation(this, "osGenerateDebugImage");

                    m_scriptModule.RegisterConstant("PATH_ENV_SUCCESSFUL", 19850);
                    m_scriptModule.RegisterConstant("PATH_ENV_NOT_FOUND", 19851);
                    m_scriptModule.RegisterConstant("PATH_ENV_OUT_OF_RANGE", 19852);
                }
                catch (Exception e)
                {
                    m_log.WarnFormat("[" + Name + "]: script method registration failed; {0}", e.Message);
                    m_enabled = false;
                }

                m_log.Info("[" + Name + "]: Region loading done!");
            }
        }

        public void RemoveRegion(Scene scene)
        {

        }

        #endregion

        #region Asyn Funktions

        private void generatePathEnvironment(ScriptRequestData requestData, int size)
        {
            UUID _envID = UUID.Random();
            Environment _newEnv = new Environment(_envID.ToString(), size);

            lock(m_environments)
            {
                m_environments.Add(_newEnv);
            }

            m_scriptModule.DispatchReply(requestData.ScriptID, 19850, _envID.ToString(), requestData.RequestID.ToString());
        }

        private void keepAlivePathEnv(ScriptRequestData requestData)
        {
            Environment _env = m_environments.Find(X => X.ID == requestData.EnvironmentID);

            if(_env != null)
            {
                _env.LastTimeUsed = (Int32)(DateTime.UtcNow.Subtract(new DateTime(1970, 1, 1))).TotalSeconds;
                m_scriptModule.DispatchReply(requestData.ScriptID, 19850, "", requestData.RequestID.ToString());
                return;
            }

            m_scriptModule.DispatchReply(requestData.ScriptID, 19851, "", requestData.RequestID.ToString());
        }
        
        private void setPositionData(ScriptRequestData requestData, Vector3 position, int walkable, int isTarget)
        {
            Environment _env = m_environments.Find(X => X.ID == requestData.EnvironmentID);

            if (_env != null)
            {
                PathNode _node = _env.Nodes.Find(X => X.PositionX == (int)position.X && X.PositionY == (int)position.Y);

                if (_node == null)
                {
                    _node = new PathNode((int)position.X, (int)position.Y, false, false);
                    _env.Nodes.Add(_node);
                }

                if (walkable == 1)
                    _node.Walkable = true;

                if (walkable == 0)
                    _node.Walkable = false;

                if (isTarget == 1)
                    _node.Target = true;

                if (isTarget == 0)
                    _node.Target = false;

                m_scriptModule.DispatchReply(requestData.ScriptID, 19850, "", requestData.RequestID.ToString());
                return;
            }

            m_scriptModule.DispatchReply(requestData.ScriptID, 19851, "", requestData.RequestID.ToString());
        }

        private void generatePath(ScriptRequestData requestData)
        {

        }

        private void generateDebugImage(ScriptRequestData requestData)
        {
            Environment _env = m_environments.Find(X => X.ID == requestData.EnvironmentID);

            if (_env != null)
            {
                Bitmap _bitmap = new Bitmap(_env.Size, _env.Size);

                foreach(PathNode thisNode in _env.Nodes)
                {
                    if (thisNode.Walkable)
                        _bitmap.SetPixel(thisNode.PositionX, thisNode.PositionY, Color.Green);

                    if (!thisNode.Walkable)
                        _bitmap.SetPixel(thisNode.PositionX, thisNode.PositionY, Color.Black);

                    if (thisNode.Target)
                        _bitmap.SetPixel(thisNode.PositionX, thisNode.PositionY, Color.Blue);
                }

                _bitmap.Save(requestData.EnvironmentID + ".png");
                m_scriptModule.DispatchReply(requestData.ScriptID, 19850, "", requestData.RequestID.ToString());
                return;
            }

            m_scriptModule.DispatchReply(requestData.ScriptID, 19851, "", requestData.RequestID.ToString());
        }

        #endregion

        #region Script Funktions

        [ScriptInvocation]
        public string osGeneratePathEnv(UUID hostID, UUID scriptID, int size)
        {
            UUID requestKey = UUID.Random();
 
            SceneObjectGroup _host = m_scene.GetSceneObjectGroup(hostID);
            (new Thread(delegate () { generatePathEnvironment(new ScriptRequestData(hostID, scriptID, null, requestKey), size); })).Start();

            return requestKey.ToString();
        }

        [ScriptInvocation]
        public string osKeepAlivePathEnv(UUID hostID, UUID scriptID, String environmentID)
        {
            UUID requestKey = UUID.Random();

            SceneObjectGroup _host = m_scene.GetSceneObjectGroup(hostID);
            (new Thread(delegate () { keepAlivePathEnv(new ScriptRequestData(hostID, scriptID, environmentID, requestKey)); })).Start();

            return requestKey.ToString();
        }

        [ScriptInvocation]
        public void osSetPositionData(UUID hostID, UUID scriptID, String environmentID, Vector3 position, int walkable, int isTarget)
        {
            SceneObjectGroup _host = m_scene.GetSceneObjectGroup(hostID);
            (new Thread(delegate () { setPositionData(new ScriptRequestData(hostID, scriptID, environmentID), position, walkable, isTarget); })).Start();
        }

        [ScriptInvocation]
        public string osGeneratePath(UUID hostID, UUID scriptID, String environmentID)
        {
            UUID requestKey = UUID.Random();

            SceneObjectGroup _host = m_scene.GetSceneObjectGroup(hostID);
            (new Thread(delegate () { generatePath(new ScriptRequestData(hostID, scriptID, environmentID, requestKey)); })).Start();

            return requestKey.ToString();
        }

        [ScriptInvocation]
        public string osGenerateDebugImage(UUID hostID, UUID scriptID, String environmentID)
        {
            UUID requestKey = UUID.Random();

            SceneObjectGroup _host = m_scene.GetSceneObjectGroup(hostID);
            (new Thread(delegate () { generateDebugImage(new ScriptRequestData(hostID, scriptID, environmentID, requestKey)); })).Start();

            return requestKey.ToString();
        }
        #endregion

    }
}