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

#if !defined(ROBOTFORAGE_H)
#define ROBOTFORAGE_H

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

#include "RobotHolonomic.h"

class CRobotForage : public CRobotHolonomic  
{
public:
	DECLARE_SERIAL(CRobotForage)
	
	CRobotForage();
	CRobotForage(double x, double y, double theta, short status, short id, CString name, short levelInfo);
	virtual ~CRobotForage();

	void Serialize(CArchive& archive );
	virtual void Draw(CDC* pDC);
	virtual void Update(CArray<CRobot*, CRobot*> *robots, double simTime, double dt, CBox* box,  CMapPath *mapPath);

	virtual CString GetInfo();
	static void SetItem(short i, CPoint p);
	static CPoint GetItem(short i);
	static void AddItem(CPoint p);
	static short GetNumItems();
	static void DeleteAllItems();

	static void SetArea(CSize a);
	static CSize GetArea();

	static void SerializeStatic(CArchive& ar);
	
	afx_msg LRESULT OnControlMsg(WPARAM wParam, LPARAM lParam);

private:
	void Forage(CArray<CRobot*, CRobot*> *robots, double dt, CMapPath *map, CBox* box, double simTime);
	void Track(CArray<CRobot*, CRobot*> *robots, double dt, CMapPath *map, CBox* box, double simTime);
	BOOL InsertPoint(CPoint p);
	BOOL FoundInList(CPoint p);
	BOOL CloseToPosition(CPoint p, int range);
	CPoint GetNextPoint();

	CArray<CPoint, CPoint> m_itemList;			// array with the items that have been detected
	short m_attached;							// number of the item that is attached to the robot
	short m_levelInfo;							// level of information being used (algorithm)
												// 1-random  2-list 3-comunication 4-divide and conquer(D&C)
	short m_rescuedItems;						// number of retrived items 
	CPoint m_trackPoint;						// current robot destination in the D&C algorithm

	static CSize m_area;						// search area
	static short m_totalRescuedItems;			// total number of retrived items
	static CArray<CPoint, CPoint> m_allItems;	// list with all the items in the environment
};
#endif