// (c) Minhiriath Condravox 2002
// Harvests a number of categories of objects and stores them at 
// predetermined storage sites.
// Automatically restores energy if drops below fENERGYLOW.
// Automatically repairs shields if drops below fSHIELDLOW.
extern void object::Harvest()
{
	float fSHIELDLOW=0.50, fENERGYLOW=0.25;
	int iDROPTURN = 4, iMAXHARVESTPRG = 4;
	
	int iHarvestPRG[iMAXHARVESTPRG][3], i=0;
	iHarvestPRG[i][0] = Titanium;
	iHarvestPRG[i][1] = SpaceShip;
	iHarvestPRG[i++][2] = 15;
	iHarvestPRG[i][0] = PowerCell;
	iHarvestPRG[i][1] = PowerStation;
	iHarvestPRG[i++][2] = 5;
	iHarvestPRG[i][0] = NuclearCell;
	iHarvestPRG[i][1] = PowerStation;
	iHarvestPRG[i++][2] = 5;
	iHarvestPRG[i][0] = TitaniumOre;
	iHarvestPRG[i][1] = Converter;
	iHarvestPRG[i++][2] = 5;
	int iHarvestPRGNr = 1;
	
	object oHarvestItem;
	int iErrCode, iCount, iNrHarvests = 0;
	boolean bPaused = false;
	
	while (true)
	{
		// Check energy and shields
		if ( CheckAndRepowerEnergy(fENERGYLOW) > 0) { break; }
		if ( CheckAndRepowerShields(fSHIELDLOW) > 0) { break; }
		
		// Find closest harvest item at at least range x from store site and get it
		oHarvestItem = FindHarvestObject(iHarvestPRG[iHarvestPRGNr][0], iHarvestPRG[iHarvestPRGNr][1], iHarvestPRG[iHarvestPRGNr][2]);
		
		if ( oHarvestItem!=null )
		{
			// Go to harvest item
			errmode(0);
			if ( goto(oHarvestItem.position, 10)<1 )
			{
				// Grab 
				if (grab(InFront)==0) { iNrHarvests++; }
				else { message("Harvester bot couldn't get object!", DisplayError); }
				errmode(1);
				
				// Recheck if there is a object held
				if (load != null)
				{
					if ( CheckAndRepowerEnergy(fENERGYLOW) > 0) { break; }
					if ( CheckAndRepowerShields(fSHIELDLOW) > 0) { break; }
					
					// find store site and return to it with object
					if ( FindAndMoveToObject(iHarvestPRG[iHarvestPRGNr][1], 0, iHarvestPRG[iHarvestPRGNr][2])>0 )
					{
						message("Harvester bot unable to reach store site!", DisplayError);
						break;
					}
					
					// Wait for power or nuclear cell to reload
					if ((iHarvestPRG[iHarvestPRGNr][1]==PowerStation) && ((load.category==PowerCell) || (load.category==NuclearCell)))
					    { while (load.energyLevel < 1.0); }
					
					// Try to drop object or rotate until empty spot found
					DropItem();
					
					// Take distance while converting TitaniumOre and get Titanium out
					if ( (iHarvestPRG[iHarvestPRGNr][0]==TitaniumOre) && (iHarvestPRG[iHarvestPRGNr][1]==Converter) )
					{
						move(-3); wait(15); 
						move(3);  grab();  
						turn(180);  move(6);
						DropItem();
					}
				}
			}
			else
			{
				message(oHarvestItem.position+" from "+position+"!", DisplayError);
				break;
			}
			errmode(1);
		}
		else
		{
			// Display amount of type harvested.
			if (iNrHarvests > 0)
			{
				message("Harvested total of "+iNrHarvests+" "+iHarvestPRG[iHarvestPRGNr][0]+".");
				wait(2);
			}
			
			// Start harvesting next type
			iHarvestPRGNr++;
			if (iHarvestPRGNr >= iMAXHARVESTPRG)
			{
				iHarvestPRGNr = 0;
			}
			message("Switched to harvesting "+iHarvestPRG[iHarvestPRGNr][0]+".");
			iNrHarvests = 0;
		}
	}
	message("Harvester bot stopped harvesting!", DisplayError);
}

// Find nearest object of category iDestCat and move towards object if found.
// Doesn't move if destination is less than iMinRange away.
// Returns error codes : 
// 0    object found and reached
// 1    object found but not reached
// 2    object not found
int object::FindAndMoveToObject(int iDestCat, int iMinRange, int iMinDist)
{
	int iErrCode = -1;
	object oDest;
	
	errmode(0);
	if ( (oDest = radar(iDestCat, 0, 360, iMinRange)) != null)
	{
		if ( distance2d(position, oDest.position)>iMinDist )
		{
			if ( goto(oDest.position, 10) == 0) { iErrCode = 0; }
			else                                { iErrCode = 1; }
		}
		else { iErrCode = 0; }
	}
	else { iErrCode = 2; }
	errmode(1);
	
	return(iErrCode);
}

// Checks bot energy cell power level and repowers at nearest PowerStation if 
// dropped below fEnergyLow.
// Returns error codes:
// -1    energy above fEnergyLow
//  0    energy restored successfully
//  1    energy needs restoring but couldn't reach PowerStation
//  2    energy needs restoring but no PowerStation found
int object::CheckAndRepowerEnergy(float fEnergyLow)
{
	object oPowerStation;
	int iErrCode=-1;
	
	// Automatically repower energy if low
	if (energyCell.energyLevel < fEnergyLow)
	{
		message("Harvester bot recharging.");
		
		iErrCode = FindAndMoveToObject(PowerStation, 0, 0);
		switch (iErrCode)
		{
			case 0 :
			    while (energyCell.energyLevel < 1.0);
			    break;
			case 1 :
			    message("Harvester bot en route to PowerStation - can't get there!", DisplayWarning);
			    FindAndMoveToObject(SpaceShip, 0, 5);
			    break;
			case 2 :
			    message("Harvester bot recharging - can't find PowerStation!", DisplayWarning);
			    FindAndMoveToObject(SpaceShip, 0, 5);
			    break;
		}
	}
	
	return (iErrCode);
}

// Checks bot shields and repowers at nearest RepairCenter if dropped below fShieldLow.
int object::CheckAndRepowerShields(float fShieldLow)
{
	object oRepairCenter;
	int iErrCode=-1;
	
	// Auto repair if shield low
	if (shieldLevel < fShieldLow)
	{
		message("Harvester bot repairing!", DisplayWarning);
		
		iErrCode = FindAndMoveToObject(RepairCenter, 0, 0);
		switch (iErrCode)
		{
			case 0 :
			    while (shieldLevel < 1.0);
			    break;
			case 1 :
			    message("Harvester bot en route to RepairCenter - can't get there!", DisplayWarning);
			    FindAndMoveToObject(SpaceShip, 0, 5);
			    break;
			case 2 :
			    message("Harvester bot recharging - can't find RepairCenter!", DisplayWarning);
			    FindAndMoveToObject(SpaceShip, 0, 5);
			    break;
		}
	}
	
	return (iErrCode);
}

// Find nearest harvestable iFindCat object at least fStoreSize away from iStoreSiteCat
object object::FindHarvestObject(int iFindCat, int iStoreSiteCat, float fStoreSize)
{
	object oStoreSite=radar(iStoreSiteCat), oFind;
	int iMinDist = 0;
	
	if (oStoreSite!=null)
	{
		do
		{
			oFind = radar(iFindCat, 0, 360, iMinDist);
			if (oFind!=null)
			{
				if ( distance2d(oStoreSite.position, oFind.position)<fStoreSize )
				{
					oFind=null;
					iMinDist++;
				}
			}
			else { break; }
		} while ( (oFind==null) && (iMinDist < 1000) );
	}
	else
	{
		message("Can't store at "+iStoreSiteCat+" - not present.");
		oFind=null;
	}
	
	return (oFind);
}

// Try to drop object or rotate until empty spot found
void object::DropItem()
{
	int iDROPTURN = 1;
	int iCount = 0, iErrCode = -1;
	
	errmode(0);
	while ( (drop(InFront) > 0) & (iCount <360) ) 
	{ 
		turn(iDROPTURN); 
		iCount += iDROPTURN;
		if (iCount >= 360)
		{
			message("Harvester bot unable to drop object!", DisplayError);
			iCount = 0;
		}
	}
	errmode(1);
}