/** @param botId */
public void stopPathPlanning(final BotID botId) {
PathFinderThread thread = pathFinderThreads.get(botId);
if (thread != null) {
thread.stop();
}
clearPath(botId);
}
/**
* Start the PP thread with given input
*
* @param botId
* @param moveCon
* @return
*/
public Path startPathPlanning(final BotID botId, final MovementCon moveCon) {
assureBotInit(botId);
newPathCounter.put(botId, 0);
PathFinderInput pathFinderInput = new PathFinderInput(botId, currentPaths, 0, moveCon);
PathFinderThread thread = pathFinderThreads.get(botId);
thread.start(pathFinderInput);
return currentPaths.get(botId);
}
/** stops all threads */
public final void stopAllPathPlanning() {
for (PathFinderThread thread : pathFinderThreads.values()) {
thread.stop();
thread.onTermination();
}
for (ScheduledExecutorService scheduler : schedulers.values()) {
scheduler.shutdown();
}
schedulers.clear();
pathFinderThreads.clear();
}