Colony

/**

 * @file PositionMonitor.h

 *

 * @author Jason Knichel

 *

 * @date 2/4/08

 */

#ifndef POSITIONMONITOR_H

#define POSITIONMONITOR_H

#include <map>

#include <vision.h>

using namespace std;

#define MAX_POSITIONS 20

#define MAX_DISTANCE 5

using namespace std;

class PositionMonitor {

 public:

  PositionMonitor(void);

  ~PositionMonitor(void);

  void run(void);

  int stopMonitoring(void);

  int updatePositions(void);

  int assignRealId(int old_id, int real_id);

  map<int, VisionPosition> getAllRobotPositions(void);

  int getRobotPosition(int robot_id, int* xbuf, int* ybuf);

 private:

  map<int, VisionPosition> positionMap;

  bool isProbablySameRobot(VisionPosition p1, VisionPosition p2);

  int newIdToAssign;

  pthread_mutex_t position_map_lock;

};

#endif