src/controllers/energyControllers/defaultEnergyController.cpp

#ifdef WITH_ENERGY_MANAGEMENT

#include <controllers/energyControllers/defaultEnergyController.h>

DefaultEnergyControl::DefaultEnergyControl() {
        energyTimer = time(NULL);
        otherRobotEnergyTimer = time(NULL);
        robotEnergy = 1;
        otherRobotEnergy = 1;
        powerTime = 60;
        otherRobotPowerTime = 120;
}

/* Energy at a certain location is simulated by having fixed
 * location in the simulator where energy can be obtained
 * 0 is energy is not a property at this location
 * 1 energy is needed
 * 2 energy is available
 */
int DefaultEnergyControl::energyAtPos(bool interact)
{
        osg::Vec3 trans = getRobotPosition();
        int radius = 5;
        int socketX = 21;
        int socketY = 0;
        int socketX1 = 21;
        int socketY1 = -3;
        int socketX2 = -10;
        int socketY2 = 38;
        int returnValue = 0;
        int socketEnergyTime = 360;
        // Socket 1
        if(trans[0] <= socketX+radius && trans[0] >= socketX-radius && trans[1] <= socketY+radius && trans[1] >= socketY-radius)
        {
                if(interact)
                        robotEnergy = 2;
                returnValue = 2;
                cout << "Got energy!!" << endl;
                energyTimer = time(NULL);
                powerTime = socketEnergyTime;
                experiment.setGotSocketEnergy();
        }
        // Socket 2
        else if(trans[0] <= socketX1+radius && trans[0] >= socketX1-radius && trans[1] <= socketY1+radius && trans[1] >= socketY1-radius)
        {
                if(interact)
                        robotEnergy = 2;
                returnValue = 2;
                cout << "Got energy!!" << endl;
                energyTimer = time(NULL);
                powerTime = socketEnergyTime;
                experiment.setGotSocketEnergy();
        }
        // Socket 3
        else if(trans[0] <= socketX2+radius && trans[0] >= socketX2-radius && trans[1] <= socketY2+radius && trans[1] >= socketY2-radius)
        {
                if(interact)
                        robotEnergy = 2;
                returnValue = 2;
                cout << "Got energy!!" << endl;
                energyTimer = time(NULL);
                powerTime = socketEnergyTime;
                experiment.setGotSocketEnergy();
        }
        int otherObcjectX = -19;
        int otherObjectY = 0;
        // large object
        if(trans[0] <= otherObcjectX+(radius+2) && trans[0] >= otherObcjectX-(radius+2) && trans[1] <= otherObjectY+(radius+2) && trans[1] >= otherObjectY-(radius+2))
        {
                experiment.setGotWrongObject(robotEnergy);
        }


        int robotX = 0;
        int robotY = 0;
        if(trans[0] <= robotX+radius && trans[0] >= robotX-radius && trans[1] <= robotY+radius && trans[1] >= robotY-radius)
        {
                returnValue = otherRobotEnergy;
                if(interact)
                {
                        if(robotEnergy == 1 && otherRobotEnergy == 2)
                        {
                                //otherRobotEnergy = 1;
                                robotEnergy = 2;
                                sendGlobalMessage("energy=1");
                                cout << "Got energy!!" << endl;
                                energyTimer = time(NULL);
                                powerTime = otherRobotPowerTime;
                                experiment.setGotRobotEnergy();
                        }
                        else if(robotEnergy == 2 && otherRobotEnergy == 1)
                        {
                                otherRobotEnergy = 2;
                                otherRobotEnergyTimer = time(NULL);
                                energyTimer = time(NULL);
                                powerTime = otherRobotPowerTime;
                                sendGlobalMessage("energy=2");
                                cout << "Gave energy!!" << endl;
                                experiment.setGaveRobotEnergy();
                        }
                }

        }
        return returnValue;
}

void DefaultEnergyController::robotEnergyTimer()
{
        if((time(NULL) - energyTimer) >= powerTime)
                robotEnergy = 1;
        if(time(NULL) - otherRobotEnergyTimer >= otherRobotPowerTime)
                otherRobotEnergy = 1;
}

#endif

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