arena.h

/********************************************************************************
 *  FARSA Experimentes Library                                                  *
 *  Copyright (C) 2007-2012                                                     *
 *  Gianluca Massera <emmegian@yahoo.it>                                        *
 *  Stefano Nolfi <stefano.nolfi@istc.cnr.it>                                   *
 *  Tomassino Ferrauto <tomassino.ferrauto@istc.cnr.it>                         *
 *                                                                              *
 *  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 ARENA_H
#define ARENA_H

#include "experimentsconfig.h"
#include "parametersettable.h"
#include "resourcesuser.h"
#include "world.h"
#include "wheeledexperimenthelper.h"
#include "baseexception.h"
#include "farsamiscutilities.h"
#include <QVector>
#include <QMap>
#include <QString>
#include <QSet>

namespace farsa {

class FARSA_EXPERIMENTS_API Arena : public ParameterSettableInConstructor, public ConcurrentResourcesUser
{
private:
    enum KinematicCollisionHandlers {
        SimpleCollisions, 
        CircleCollisions, 
        UnknownCollisionHandler 
    };

    static KinematicCollisionHandlers stringToCollisionHandler(QString str);

    static QString collisionHandlerToString(KinematicCollisionHandlers h);

public:
    Arena(ConfigurationParameters& params, QString prefix);

    virtual ~Arena();

    virtual void save(ConfigurationParameters& params, QString prefix);

    static void describe(QString type);

    const QVector<PhyObject2DWrapper*>& getObjects() const
    {
        return m_objects2DList;
    }

    real getZ() const
    {
        return m_z;
    }

    real getWidth() const
    {
        return m_plane->phyObject()->sideX();
    }

    real getHeight() const
    {
        return m_plane->phyObject()->sideY();
    }

    void addRobots(QStringList robots);

    const WheeledRobot2DWrapper* getRobotWrapper(QString robotName) const;

    Box2DWrapper* getPlane();

    const Box2DWrapper* getPlane() const;

    Box2DWrapper* createWall(QColor color, wVector start, wVector end, real thickness, real height = -1.0);

    Cylinder2DWrapper* createSmallCylinder(QColor color, real height = -1.0);

    Cylinder2DWrapper* createBigCylinder(QColor color, real height = -1.0);

    Cylinder2DWrapper* createCylinder(real radius, QColor color, real height = -1.0);

    Cylinder2DWrapper* createCircularTargetArea(real radius, QColor color);

    Box2DWrapper* createRectangularTargetArea(real width, real depth, QColor color);

    Sphere2DWrapper* createLightBulb(QColor color);

    bool delete2DObject(PhyObject2DWrapper* obj);

    void prepareToHandleKinematicRobotCollisions();

    void handleKinematicRobotCollisions();

    FARSA_DEPRECATED QVector<PhyObject2DWrapper*> getKinematicRobotCollisions(WheeledRobot2DWrapper* robot) const;

    FARSA_DEPRECATED QVector<PhyObject2DWrapper*> getKinematicRobotCollisions(QString robotResourceName) const;

    QSet<PhyObject2DWrapper*> getKinematicRobotCollisionsSet(WheeledRobot2DWrapper* robot) const;

    QSet<PhyObject2DWrapper*> getKinematicRobotCollisionsSet(QString robotResourceName) const;

private:
    Cylinder2DWrapper* createCylinder(QColor color, real radius, real height, Cylinder2DWrapper::Type type);

    Box2DWrapper* createBox(QColor color, real width, real depth, real height, Box2DWrapper::Type type);

    Sphere2DWrapper* createSphere(QColor color, real radius, Sphere2DWrapper::Type type);

    virtual void resourceChanged(QString resourceName, ResourceChangeType changeType);

    void simpleCollisionsPreAdvance();

    void simpleCollisionsHandle();

    void circleCollisionsPreAdvance();

    void circleCollisionsHandle();

    const real m_z;

    const real m_smallCylinderRadius;

    const real m_bigCylinderRadius;

    const real m_lightBulbRadius;

    const KinematicCollisionHandlers m_collisionHandler;

    QVector<PhyObject2DWrapper*> m_objects2DList;

    Box2DWrapper* const m_plane;

    QMap<QString, WheeledRobot2DWrapper*> m_robotResourceWrappers;

    QMap<WheeledRobot2DWrapper*, QSet<PhyObject2DWrapper*> > m_kinematicRobotCollisions;

    World* m_world;

    static Box2DWrapper* createPlane(ConfigurationParameters& params, QString prefix, real z, Arena* arena);

    static Box2DWrapper* createPlane2(ConfigurationParameters& params, QString prefix, real z, Arena* arena);
};

// All the suff below is to avoid warnings on Windows about the use of the
// unsafe function sprintf and strcpy...
#if defined(_MSC_VER)
    #pragma warning(push)
    #pragma warning(disable:4996)
#endif

class FARSA_EXPERIMENTS_TEMPLATE ArenaException : public BaseException
{
public:
    ArenaException(const char* reason) throw() :
        BaseException()
    {
        strncpy(m_reason, reason, 256);
        m_reason[255] = '\0';
        sprintf(m_errorMessage, "Runtime error in the Arena, reason: %s", m_reason);
        m_errorMessage[511] = '\0';
    }

    ArenaException(const ArenaException& other) throw() :
        BaseException(other)
    {
        strncpy(m_reason, other.m_reason, 256);
        m_reason[255] = '\0';
        strncpy(m_errorMessage, other.m_errorMessage, 512);
        m_errorMessage[511] = '\0';
    }

    ArenaException& operator=(const ArenaException& other) throw()
    {
        if (&other == this) {
            return *this;
        }

        BaseException::operator=(other);
        strncpy(m_reason, other.m_reason, 256);
        m_reason[255] = '\0';
        strncpy(m_errorMessage, other.m_errorMessage, 512);
        m_errorMessage[511] = '\0';

        return *this;
    }

    virtual ~ArenaException() throw()
    {
    }

    virtual const char *what() const throw()
    {
        return m_errorMessage;
    }

    const char *reason() const throw()
    {
        return m_reason;
    }

    EXCEPTION_HELPER_FUNCTIONS(ArenaException)

private:
    char m_reason[256];

    char m_errorMessage[512];
};

// All the suff below is to restore the warning state on Windows
#if defined(_MSC_VER)
    #pragma warning(pop)
#endif

} // end namespace farsa

#endif