RobotController.h

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#ifndef ROBOTCONTROLLER_H_
#define ROBOTCONTROLLER_H_

#include "Robot.h"

class RobotController {
public:
    RobotController();
    RobotController(config::sController controllerParam, config::sRobot robotParam, b2Body* terrain, double m_to_px = 0);
    virtual ~RobotController();

    void addRobot(Robot* robot);

    bool checkGrabbed(Robot& robot);

    void create(config::sController controllerParam, config::sRobot robotParam, b2Body* terrain, double m_to_px = 0);

    void createGripRobots(Robot& robot);

    bool createRobot(b2World* world, int delay, double posX, double posY, double angle = 0);

    void destroyJoints(Robot& robot, side s);

    void drawRobots(sf::RenderWindow& window, double m_to_px);

    void findContactRobots(b2Contact* contact);

    double getDissolutionTime();

    int getNbActiveRobots();

    int getNbRobots(e_state s);

    int getNbRobotsBlocked();

    Robot* getRobot(int pos_id);

    Robot* getRobotWithId(int id);

    double getStabilizationTime();

    void invertMovingWheel(Robot& robot);

    bool isBridgeDissolved();

    bool isBridgeStable();

    void removeRobot();

    void robotOut(double end_x, int id);

    bool robotPushing(Robot& r);

    bool robotStacking(Robot* r, float posX);

    void setBridgeStability(bool stable);

    void setNbRobots(int nb_robots);

    void setRobotState(Robot& robot,  e_state robotState);

    void setScale(double m_to_px);

    void step(double end_x);

    void wait_delay(Robot& robot);

    bool m_bridgeEntry = false;


private:

    std::vector<Robot*> m_robotVector; // Vector containing a pointer on every robot object attached to this robot controller
    std::vector<int> m_robotToDestroy; // Vector containing the id of all the robot that have to be destroyed during the next simulation step
    int m_nbRobots = 0; // Number of robot attached to this robot controller
    int m_currentIt = 0; // Current iteration
    int m_idLastRobot = 0; // id of the last robot that entered the bridge state
    int m_nbRobInBridge = 0; // Number of robot in the bridge state
    double m_stableTime = 0; // Time to reach stable bridge (real time)
    bool m_isStable = false; // Flag to indicate bridge stability
    bool m_isDissolved = false; // Flag to indicate if the bridge dissolved
    double m_dissolutionTime = 0; // Time to reach bridge dissolution (real time)

    double m_angle_min= PI/8;

    b2Body* m_terrainBody=nullptr; //Pointer on the terrain Box2D body

    config::sController m_controllerParam; //Structure containing the controller parameters. The structure is defined in the Config.h file
    config::sRobot m_robotParam; //Structure containing the robot parameters. The structure is defined in the Config.h file

    int m_M_TO_PX; //Copy of the scale to do the conversion from real dimensions (m) to simulated ones (pixels)
};

#endif /* ROBOTCONTROLLER_H_ */