Entity.h

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/*
Teem - an open source evolutionary software framework
http://lis.epfl.ch/resources/Teem
Stephane Magnenat <stephane.magnenat@epfl.ch>,
Antoine Beyeler <antoine.beyeler@epfl.ch>,
and other contributors. See AUTHORS for details
Laboratory of Intelligent Systems, EPFL, Lausanne

This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
*/

#ifndef __TEEM_ENTITY_H
#define __TEEM_ENTITY_H

#include "EntityInterfaces.h"
#include <an/Types.h>

namespace Teem
{
    class Khepera :
        public Entity,
        virtual public Positionable,
        public DifferentialWheeled,
        public IRSensorEquipped,
        public Camera1DEquipped
    {
    protected:
        friend class KheperaCreator;
        Khepera() { }

    public:
        virtual ~Khepera() { }
        
        // TODO: should be in differentialWheeled, but not implemented in other robots yet
        virtual void getEncoders(double &left, double &right) = 0;
    };
    
    class Blimp :
        public Entity,
        public Camera1DEquipped
    {
    protected:
        friend class BlimpCreator;
        Blimp() { }
    
    public:
        virtual ~Blimp() { }
        
        virtual void setSpeed(double forward, double dir) = 0;
        
        virtual double getGyro() = 0;
        virtual double getAnemo() = 0;
        virtual bool getBumper(unsigned index) = 0;
        virtual const An::Point &getPosition() = 0;
    };
    
    class Alice :
        public Entity,
        virtual public Positionable,
        public DifferentialWheeled,
        public IRSensorEquipped,
        public Camera1DEquipped
    {
    protected:
        friend class AliceCreator;
        Alice() { }

    public:
        virtual ~Alice() { }
        
        virtual void setTransmitValue(unsigned val) = 0;
        virtual void setTransmit(bool enabled) = 0;
        virtual bool wasCommunication(void) = 0;
        virtual unsigned getSensorId(void) = 0;
        virtual unsigned getSensorValue(void) = 0;
        
        virtual void getSpeed(double &left, double &right) = 0;
    };
    
    class AliceSmallDisk :
        public Entity,
        virtual public Positionable
    {
    protected:
        friend class AliceSmallDiskCreator;
        AliceSmallDisk() { }
    };
    
    class AliceLargeDisk :
        public Entity,
        virtual public Positionable
    {
    protected:
        friend class AliceLargeDiskCreator;
        AliceLargeDisk() { }
    };

    class Sbot :
        public Entity,
        virtual public Positionable,
        public DifferentialWheeled
    {
    protected:
        friend class SbotCreator;
        Sbot() { }
    
    public:
        virtual ~Sbot() { }
        virtual void getCameraAverage(An::Color meanPixels[8]) = 0;
        virtual void getCamera(An::Color meanPixels[128]) = 0;
        virtual void setRingColor(const An::Color &color) = 0;
        
        virtual void clearEnergy(void) = 0;
        virtual void setEnergy(double energy) = 0;
        virtual double getEnergy(void) = 0;
        virtual double getDEnergy(void) = 0;
        
        virtual void setFrequencies(unsigned frequencies) = 0;
        virtual unsigned getFrequencies(void) = 0;
    };

    class SbotActiveObject :
        public Entity,
        virtual public Positionable
    {
    protected:
        friend class SbotCreator;
        SbotActiveObject() { }

    public:
        virtual ~SbotActiveObject() { }
        
        virtual void setEnergyProperties(double activeDuration, double inactiveDuration, bool consumeEnergy) = 0;
        virtual void setEnergyTime(double time) = 0;
        virtual void setEnergyFlow(double activeFlow, double inactiveFlow) = 0;
        virtual void setEnergy(double energy) = 0;
        virtual double getEnergy(void) = 0;
        
        virtual void setColor(const An::Color &activeColor, const An::Color &inactiveColor) = 0;
        
        virtual double getInteractionRange(void) = 0;
    };
    
    class RectangularBlock :
        public Entity,
        virtual public Positionable
    {
    protected:
        friend class RectangularBlockCreator;
        RectangularBlock() { }
    
    public:
        virtual ~RectangularBlock() { }
        virtual void set(double width, double height, double x, double y, double orientation) = 0;
    };
}

#endif

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