include/architecture/planner/MarketPlanner.h

#pragma once
#ifndef __MARKET__PLANNER__
#define __MARKET__PLANNER__

#include <iostream>
#include <stdlib.h>
#include "ClThread.h"
#include "ClMutex.h"
#include "stepEvent.h"
#include "slamInterface.h"
#include "reactive.h"
#include "planner.h"
#include "pathPlanning.h"



/** 
* @brief Implements an explorative path planner using a cooperative market model for target selection
*
* Each robot has its own list of targets. 
* Periodically new targets are proposed for auction.
* The robot with the best bid includes the target in its list.
*  
*/
class MarketPlanner: public planner{

private: 

/** 
* @brief Target struct
*
* It is used for in the Market Planner target list
*
* This struct contains the information related with the profit of a target.
*/
typedef struct target{
        point cell;
        float utility;
        float cost;
        float profit;
        int auctionEnds;
        int bestOfferID;
        float bestOfferProfit;
        target():utility(0.0f),cost(0.0f),profit(0.0f),auctionEnds(0),bestOfferID(-1),bestOfferProfit(0.0f){}
        bool operator<(const target& t){return profit<t.profit;}
}target;


/** 
* @brief Public auction, data contains the target cell and the auction publisher
*/
typedef struct auct{
        point cell;
        int auctioner;
}auct;


///////////////////////////////////////////////////////////////////////
//-------------------------  Attributes  ------------------------------
///////////////////////////////////////////////////////////////////////


        ClMutex closing;                                // Mutex for a right stopping of the thread
        bool endPlanner;                                // Flag that indicates that the thread must conclude in the next iteration 
//      bool showPlanner;                               // Flag that indicates if the planning figure must be displayed
        bool completedPath;                             // Flag to set when path is finished
        std::vector<point> path;                        // planned path

        std::list<target> targetList;

        // parameters
        float replanning_period;
        int inflate_obstacles;
        float utility_radius;
        float utility_weight;
        float cost_weight;      
//--------------------------------------------------------------------- 
///////////////////////////////////////////////////////////////////////

///////////////////////////////////////////////////////////////////////
//-------------------------  Methods  ---------------------------------
///////////////////////////////////////////////////////////////////////

public:

        /// Constructor
        MarketPlanner(const ConfigFile& config);
        /// Destructor
        virtual ~MarketPlanner();

private:

        /// Thread setup
        int setup();                                    
        /// Thread on stop
        void onStop();                                  
        /// Thead execution body
        void execute();                                 
        /// Evals the utility of an area
        int utility(const gridMapInterface& omap, const binMap& esz); 

//--------------------------------------------------------------------- 
///////////////////////////////////////////////////////////////////////
};

#endif