//////////////////////////////////////////////////////////////////////
// MuRoS - Multi Robot Simulator
//
// Luiz Chaimowicz
// GRASP Lab. University of Pennsylvania
// VERLab - DCC - UFMG - Brasil
//
// Robot.h : header file
//
///////////////////////////////////////////////////////////////////////
#if !defined(ROBOT_H)
#define ROBOT_H

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

#include "Afxtempl.h"
#include "DataMsg.h" 
#include "ControlMsg.h"
#include "ObstacleInfo.h"
#include "MapPath.h"
#include "MapView.h"

// windows messages
#define WM_DATAMSG				WM_USER + 10
#define WM_CONTROLMSG			WM_USER + 11
#define WM_TESTEMSG				WM_USER + 12
#define WM_DATAMSGBUFFER		WM_USER + 13
#define WM_CONTROLMSGBUFFER		WM_USER + 14

// robot states (m_status)
#define LEAD		1
#define FOLLOW		2
#define DOCK		3
#define WAIT		4
#define PUSH		5
#define ERRO		6
#define BACKUP		7
#define TRANSPORT	8
#define ESCORT		9
#define STOPPED		10
#define WANDER		11
#define GETITEM		12
#define FPPATH		13
#define GOPOSITION	14

// control messages
#define LPASS		1
#define DOCKOK		2
#define LCHANGE		3
#define POOL		4
#define PUSHOK		5
#define BACKUPMSG	6
#define NEWLEADER	7
#define BOXLOCKED	8
#define NEWROBOT	9
#define LOSTBOX		10
#define TIMEOUT		11
#define NEWPOINT	12
#define WILLGET		13
#define GOFORIT		14
#define DELETEROBOT	15

class CBox;

/////////////////////////////////////////////////////////////////////////////
// CRobot window

class CRobot : public CWnd
{
    DECLARE_SERIAL(CRobot)

// Overrides
	// ClassWizard generated virtual function overrides
	//{{AFX_VIRTUAL(CRobot)
	//}}AFX_VIRTUAL


	// Generated message map functions
protected:
	//{{AFX_MSG(CRobot)
		// NOTE - the ClassWizard will add and remove member functions here.
	//}}AFX_MSG
	virtual afx_msg LRESULT OnControlMsg(WPARAM wParam, LPARAM lParam);
	virtual afx_msg LRESULT OnDataMsg(WPARAM wParam, LPARAM lParam);
	DECLARE_MESSAGE_MAP()

public:
	CRobot();
	CRobot(double x, double y, double theta, short status, short id, CString Name);
	virtual ~CRobot();

    virtual 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 void Output(double simTime);
	virtual void ForceFromObstacles(CObstacle *obst, double &fx, double &fy);
	virtual void ForceFromBoxes(CBox *box, double &fx, double &fy);
	virtual void ForceOnBoxes(CBox *box,double &fx, double &fy, double &ftheta);
	virtual void ForceFromRobots(CRobot *robot, double &fx, double &fy);

	virtual void SetOrientation(double angle);
	virtual CString GetInfo();

	void SendControlMsg(CControlMsg *msg);
	void PostControlMsg(CControlMsg *msg);
	void SendDataMsg(CDataMsg *msg);

	void Sensor(CMapPath *globalMap, CBox *box);
	virtual short DetectObstacles(CObstacle *obst, BOOL Erased);
	virtual void DetectBox(CBox *box);

	void CloseOutput();
	void OpenOutput();
	void DeleteContents();
	
	short m_controlMsgCount;	// count the number of control messages received by the robot

	short m_status;				// current robot state
	short m_id;					// robot id (set when the robot is created)
	CString m_name;				// robot "name" (for display and file output purposes)

	short m_leader;				// current leader (in a leader follower architecture)
	short m_numRobots;			// size of the robot team (each robot keeps track of the total number of robots)

	double m_x;					// robot pose
	double m_y;
	double m_theta;

	double m_radius;			// robot radius
	CRect m_rect;				// robot outside rectangle

	short m_controlType;		// Variables for the leader-follower 'bicycle controller)
	double m_beta;
	double m_r;
	
	double m_timer;				// timer to compute timeouts

	short m_sensorRange;		// range of sensor
	short m_numObstacles;		// number of obstacle currently detected

	BOOL m_inContactBox;		// True if in contact with the box
	CPoint m_contactPoint;		// contact point if the box
	double m_distBox;			// distance to the box
	double m_angleBox;			// angle to the box

	CMapPath *m_localMap;		// map
	CMapView m_localView;		// window to show the map

	CArray<CPoint, CPoint> m_path;	// keeps track of the robot trajectory for displaying

protected:
	FILE * m_out;	// output file (***** need to change to a stream object)
};


#include "Box.h"


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

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

#endif