Program Listing for File block_motion_handler.hpp

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#pragma once

/*******************************************************************************
 * Includes
 ******************************************************************************/
#include <boost/optional.hpp>

#include "rcppsw/er/client.hpp"
#include "rcppsw/math/rng.hpp"
#include "rcppsw/math/vector2.hpp"

#include "cosm/cosm.hpp"
#include "cosm/foraging/config/block_motion_config.hpp"
#include "cosm/foraging/metrics/block_motion_metrics.hpp"

/*******************************************************************************
 * Namespaces/Decls
 ******************************************************************************/
namespace cosm::repr {
class sim_block3D;
} /* namespace cosm::repr */

namespace cosm::arena {
class base_arena_map;
} /* namespace cosm::arena */

namespace cosm::foraging {

/*******************************************************************************
 * Class Definitions
 ******************************************************************************/
class block_motion_handler : public rer::client<block_motion_handler>,
                             public cfmetrics::block_motion_metrics {
 public:
  static inline const std::string kPolicyNone = rconfig::constants::kNoValue;
  static inline const std::string kPolicyRandomWalk = "random_walk";

  block_motion_handler(const config::block_motion_config* config,
                       rmath::rng* rng);

  /* Not move/copy constructable/assignable by default */
  block_motion_handler(const block_motion_handler&) = delete;
  const block_motion_handler& operator=(const block_motion_handler&) = delete;
  block_motion_handler(block_motion_handler&&) = delete;
  block_motion_handler& operator=(block_motion_handler&&) = delete;

  /* motion metrics */
  size_t n_moved(void) const override { return m_n_moved; }

  size_t move_blocks(carena::base_arena_map* map);

 private:
  static constexpr const size_t kMAX_TRIES = 32;

  void random_walk(carena::base_arena_map* map);

  boost::optional<rmath::vector2z>
  free_adjacent_coord(const crepr::sim_block3D* block,
                      const carena::base_arena_map* map);

  /* clang-format off */
  const config::block_motion_config mc_config;

  size_t                            m_n_moved{0};
  rmath::rng*                       m_rng;
  /* clang-format on */
};

} /* namespace cosm::foraging */