extern void object::ServiceTower()
{
	while(true)
	{
		if(load == null)
		    getCell();
		else
		{
			if(load.energyLevel < 1)
			    maint();  
			
			loadTower();
		}
	}
}

void object::getCell()
{
	object bestCell = findBestCell();
	
	if(bestCell == null)
	    getCellFromTower();
	else        
	{
		myGoto(bestCell.position);
		
		errmode(0);
		grab();
		errmode(1);
	}
}

void object::getCellFromTower()
{
	object tower = findWorstTower();
	
	if(tower == null)
	    return;
	
	if(tower.energyCell != null)
	{
		int cat[];
		cat[0] = PowerStation;
		cat[1] = PowerCaptor;
		
		if(tower.energyCell.energyLevel < 0.5 and radar(cat) != null)
		{
			myGoto(tower.position);
			
			while(enemyIsNear() and tower.energyCell.energyLevel >= 0.125)
			    wait(1);   
			
			grab();
		}  
	}
}

void object::loadTower()
{
	object tower = findWorstTower();
	
	if(tower == null)
	    return;
	
	if(tower.energyCell != null)
	{
		if(tower.energyCell.energyLevel < load.energyLevel)
		{
			myGoto(tower.position);
			
			while(enemyIsNear() and tower.energyCell.energyLevel >= 0.125)
			    wait(1);   
			
			swapCell();
		}
	}
	else
	{
		myGoto(tower.position);
		
		drop();
	}
}

object object::findBestCell()
{
	object cell = radar(PowerCell);
	object bestCell = cell;
	
	float min = 0;
	
	while( (cell = radar(PowerCell,0,360,min)) != null )
	{ 
		if(cell.energyLevel == 1)
		    return cell;
		
		if(bestCell.energyLevel < cell.energyLevel)
		    bestCell = cell;
		
		min = distance2d(position,cell.position) + 0.5;
	}
	
	return bestCell;
} 

object object::findWorstTower()
{
	object tower = radar(DefenseTower);
	object worstTower = tower; 
	
	float min = 0;
	
	while( (tower = radar(DefenseTower,0,360,min)) != null )
	{
		if(tower.energyCell == null)
		    return tower;
		
		if(tower.energyCell.energyLevel == 0)
		    return tower;
		
		if(worstTower.energyCell.energyLevel > tower.energyCell.energyLevel)
		    worstTower = tower;
		
		min = distance2d(position,tower.position) + 0.5;
	}
	
	return worstTower;
} 

void object::swapCell()
{
	drop(Behind);
	
	grab(); 
	
	turn(90);
	drop();
	
	turn(-90);
	grab(Behind);
	
	drop();
	
	turn(90);
	grab();
}

void object::maint()
{
	message("PowerCell needs recharge.  Searching for energy sources...");
	
	if(rechargePlanA() == false and rechargePlanB() == false)
	{
		message("Warning.  No energy sources found!");
		wait(5);
		return;
	}
	
	message("Recharge completed.  Resuming job duties...", DisplayInfo);
}

bool object::rechargePlanA()
{
	int cat[];
	cat[0] = PowerStation; 
	cat[1] = PowerCaptor;
	
	object pwrSource = radar(cat);  
	
	if(pwrSource == null)
	    return false;
	
	myGoto(triangulate2d(pwrSource));
	myGoto(pwrSource.position);
	
	message("Recharging at " + pwrSource.category + "...",DisplayInfo);
	
	while(load.energyLevel < 1)
	    wait(1);
	
	goto(space());
	
	return true;
}

bool object::rechargePlanB()
{
	object bestCell = findBestCell(); 
	
	if(bestCell == null)
	    return false;
	
	if(load.energyLevel < bestCell.energyLevel)
	{
		goto(bestCell.position);    
		
		message("Swapping with better PowerCell...",DisplayInfo);
		
		drop(Behind);
		grab();
		
		return true;
	}
	
	return false;
}

bool object::enemyIsNear()
{
	int cat[];                
	 
	cat[0] = AlienAnt;    
	cat[1] = AlienWorm;  
	cat[2] = AlienWasp; 
	cat[3] = AlienSpider;
	
	object enemy = radar(cat,0,360,0,75);
	
	if(enemy == null)
	    return false;
	
	return true;
}
void object::myGoto(point p)
{
	errmode(0);
	
	while(goto(p) != 0)
	    wait(2);    
	
	errmode(1);
}

point object::triangulate2d(object o)
{
	point dest = o.position;
	
	dest.x += cos(o.orientation) * 10;
	dest.y += sin(o.orientation) * 10;
	
	return dest;
}