BaseDriver.h

/***************************************************************************
 
    file                 : BaseDriver.h
    copyright            : (C) 2007 Daniele Loiacono
 
 ***************************************************************************/

/***************************************************************************
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 ***************************************************************************/
#ifndef BASEDRIVER_H_
#define BASEDRIVER_H_

#include<iostream>
#include "phenotype.h"

using namespace std;

class BaseDriver
{
public:
	
	typedef enum{WARMUP,QUALIFYING,RACE,UNKNOWN} tstage;

	tstage stage;
	char trackName[100];

	// Default Constructor
	BaseDriver(){};
	
	// Default Destructor;
	virtual ~BaseDriver(){};
	
	// Initialization of the desired angles for the rangefinders
	virtual void init(float *angles){
		for (int i = 0; i < 19; ++i)
			angles[i]=-90+i*10;
	};

	// The main function: 
	//     - the input variable sensors represents the current world sate
	//     - it returns a string representing the controlling action to perform    
	virtual string drive(string sensors, CNeuralNet* brain)=0;

	// Callback function called at shutdown
	virtual void onShutdown(){};
	
	// Callback function called at server restart
	virtual void onRestart(){};

};
#endif /*BASEDRIVER_H_*/