/*************************************************************************************
 * Copyright (c) 2016, Miguel Angel Astor Romero                                     *
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#ifndef ROBOT_HPP
#define ROBOT_HPP

#include <iostream>
#include <string>
#include <libplayerc++/playerc++.h>

/**
 * Base class for robot types.
 */
class Robot {
public:
  Robot(std::string hostname, uint32_t port);
  virtual ~Robot();

  virtual void run() = 0;
  
protected:
  PlayerCc::PlayerClient *    _p_client;
  PlayerCc::Position2dProxy * _p_proxy;
};

/**
 * Concrete robot that implements the IAS-SS architecture as defined in:
 *
 *   1) R. Calvo et al. "Inverse ACO for Exploration and Surveillance in
 *      Unknown Environments", The Third International Conference on Advanced
 *      Cognitive Technologies and Applications, Rome, Italy 2011.
 *
 *   2) R. Calvo et al. "A Distributed, Bio-Inspired Coordination Strategy
 *      for Multiple Agent Systems Applied to Surveillance Tasks in Unknown
 *      Environments", Proc. of the IEEE IJCNN, San Jose, USA, 2011.
 */
class IASSS_Robot : Robot{
public:
  IASSS_Robot(std::string hostname, uint32_t port);
  virtual ~IASSS_Robot();

  virtual void run();
};

#endif