#ifndef MASTER_H
#define MASTER_H

#include <vector>
#include <map>
#include <utility>
#include <list>

#include <mpi.h>

#include "btBulletDynamicsCommon.h"
#include "MPIChannel.h"

#include "SensorProvider.h"
#include "ActuatorProvider.h"
#include "CommChannelProvider.h"

#include "Sensor.h"
#include "Actuator.h"
#include "SimpleAgent.h"
#include "CommChannel.h"

#include "Environment.h"
#include "constants.h"

#include "Gui.h"

using namespace std;


typedef struct {
    btScalar m[16];
    btMatrix3x3 rot;
    btVector3  aabbMin,aabbMax;
    btCollisionShape *shape;
} WorldObject;

class Master {
private:
	WorldObject data;
	pair<int, int> x;

	vector<XProvider *> xList;

	map<int, pair<int, int> > positionID;

	int m_nprocs;
	Environment *m_bullet;
	Gui *m_gui;
	bool m_running;

public:
	Master(Environment *bullet, int nprocs);
	~Master();

	int sendAll();
	void run();
	void stop();

	int getID(int i, int j);
	void discoverAgents();
	void createProviders();
	void sendHello(int id);

};


#endif //MASTER_H