//////////////////////////////////////////////////////////////////////
// MuRoS - Multi Robot Simulator
//
// Luiz Chaimowicz
// GRASP Lab. University of Pennsylvania
// VERLab - DCC - UFMG - Brasil
//
// simulatorDoc.h : interface of the CSimulatorDoc class
//
/////////////////////////////////////////////////////////////////////////////

#if !defined(SIMULATORDOC_H)
#define SIMULATORDOC_H

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

#include "Afxtempl.h"
#include "Robot.h"
#include "Box.h"
#include <afxmt.h>

class CSimulatorDoc : public CDocument
{
public:
	DECLARE_DYNCREATE(CSimulatorDoc)

	CSimulatorDoc();
	virtual ~CSimulatorDoc();

	void AddRobot(CRobot *);
	void AddObstacle(CObstacle *);

	void SerializeGlobals(CArchive& ar);
	void Initialize();

	// Overrides
	// ClassWizard generated virtual function overrides
	//{{AFX_VIRTUAL(CSimulatorDoc)
	public:
	virtual BOOL OnNewDocument();
	virtual void Serialize(CArchive& ar);
	virtual void DeleteContents();
	virtual BOOL OnOpenDocument(LPCTSTR lpszPathName);
	//}}AFX_VIRTUAL

#ifdef _DEBUG
	virtual void AssertValid() const;
	virtual void Dump(CDumpContext& dc) const;
#endif
	
	CArray<CRobot*, CRobot*> m_robots;		// array with all the robots
	CBox *m_box;							// box of the manipulation task

	double m_simTime;						// simulation time
	CWinThread *m_updateThread;				// update thread

	CMapPath *m_globalMap;					// global map structure of the application
	CMapView m_mapView;						// window to show the map

	CScrollView *m_view;					// pointer to the main window (view)

	int m_selectedButton;					// button that is selected in the toolbar

	BOOL m_drawErased;						// True if the erased obstacles should be drawn
	BOOL m_drawRange;						// True if the sensor range should be drawn
	BOOL m_drawPath;						// True if the robot trajectory should be drawn
	BOOL m_isRunning;						// True if the simulations is running

	BOOL m_threadIsCreated;					// True if the update thread is created


	int m_selectedRobot;					// -1 if no robot is selected. else contain the robot id
	int m_selectedObst;						// -1 if no obstacle is selected. else contain the obstacle id


// Generated message map functions
protected:
	//{{AFX_MSG(CSimulatorDoc)
	afx_msg void OnDrawRange();
	afx_msg void OnUpdateDrawRange(CCmdUI* pCmdUI);
	afx_msg void OnDrawErased();
	afx_msg void OnUpdateDrawErased(CCmdUI* pCmdUI);
	afx_msg void OnApplicationsForage();
	afx_msg void OnSelect();
	afx_msg void OnUpdateSelect(CCmdUI* pCmdUI);
	afx_msg void OnCreateObstacleCircle();
	afx_msg void OnUpdateCreateObstacleCircle(CCmdUI* pCmdUI);
	afx_msg void OnCreateObstacleRect();
	afx_msg void OnUpdateCreateObstacleRect(CCmdUI* pCmdUI);
	afx_msg void OnCreateObstaclePolygon();
	afx_msg void OnUpdateCreateObstaclePolygon(CCmdUI* pCmdUI);
	afx_msg void OnCreateBoxPolygon();
	afx_msg void OnUpdateCreateBoxPolygon(CCmdUI* pCmdUI);
	afx_msg void OnCreateBoxRect();
	afx_msg void OnUpdateCreateBoxRect(CCmdUI* pCmdUI);
	afx_msg void OnCreateLabmate();
	afx_msg void OnUpdateCreateLabmate(CCmdUI* pCmdUI);
	afx_msg void OnCreateBoxCircle();
	afx_msg void OnUpdateCreateBoxCircle(CCmdUI* pCmdUI);
	afx_msg void OnInitTimer();
	afx_msg void OnUpdateInitTimer(CCmdUI* pCmdUI);
	afx_msg void OnFinishTimer();
	afx_msg void OnUpdateFinishTimer(CCmdUI* pCmdUI);
	afx_msg void OnApplications100();
	afx_msg void OnDrawpath();
	afx_msg void OnUpdateDrawpath(CCmdUI* pCmdUI);
	afx_msg void OnCreaterobotholonomic();
	afx_msg void OnUpdateCreaterobotholonomic(CCmdUI* pCmdUI);
	afx_msg void OnCreaterobotnonholonomic();
	afx_msg void OnUpdateCreaterobotnonholonomic(CCmdUI* pCmdUI);
	//}}AFX_MSG
	DECLARE_MESSAGE_MAP()
};

/////////////////////////////////////////////////////////////////////////////

//{{AFX_INSERT_LOCATION}}
// Microsoft Visual C++ will insert additional declarations immediately before the previous line.

#endif