#define PARAM_CONTROLLER_TYPE "controllerType"
#define PARAM_ROBOT_ID "robotId"
#define PARAM_THIS_ROBOT_ID "thisRobotId"
#define PARAM_NUM_OF_WORKSITES "numOfWorksites"
#define PARAM_MIN_WORKSITE_D "minWorksiteD"
#define PARAM_MAX_WORKSITE_D "maxWorksiteD"
#define PARAM_WORKSITE_RADIUS "worksiteRadius"
#define PARAM_WORKSITE_VOLUME "worksiteVolume"
#define PARAM_ROBOT_WORKSITE_SENSE_RANGE "robotWorksiteSenseRange"
#define PARAM_BASE_X "baseX"
#define PARAM_BASE_Y "baseY"
#define PARAM_BASE_RADIUS "baseRadius"
#define PARAM_MISSION_TYPE "missionType"
#define PARAM_CONTROLLER_TYPE "controllerType"
#define PARAM_TASK_ALLOCATION_LOAD_AMOUNT "taskAllocLoadAmount"
#define PARAM_FORAGING_LOAD_AMOUNT "foragingLoadAmount"
#define PARAM_TIME_BETWEEN_GLOBAL_POSITION_UPDATES "timeBetweenGlobalPositionUpdates"
#define PARAM_GLOBAL_POSITION_ERROR_VARIANCE "globalPositionErrorVariance"
#define PARAM_GLOBAL_ROTATION_ERROR_VARIANCE "globalRotationErrorVariance"
#define PARAM_COMM_MAX_D "commMaxD"
#define PARAM_COMM_TIME "commTime"
#define PARAM_LB_NEAR_WORKSITE_D "lbNearWorksiteD"
#define PARAM_B_RECRUITMENT_TIME "bRecruitmentTime"
#define PARAM_B_SCOUTING_PROB "bScoutingProb"
#define PARAM_B_MAX_SCOUTING_TIME "bMaxScoutingTime"
#define PARAM_REPORT_SEND_TRIALS "reportSendTrials"
#define PARAM_LOG_FILE_PREFIX "logFilePrefix"

#define EVENT_WORKSITE_COMPLETED "E_SITE_COMPLETED"
#define EVENT_WORKSITE_ADDED "E_SITE_ADDED"
#define EVENT_WORKSITE_DESTROYED "E_SITE_DESTROYED"

#define PARAMETER_FILE "/home/lenka/EPUCKimage/mnt/root/taskDiscovery_epuck/cpp_observer/launch/runSettings.txt"

#define RECRUITMENT_ACTIVE_DUMMY_NO -999
#define MIN_REWARD_NO 0.0001

#ifndef COMMON_CONSTANTS
#define COMMON_CONSTANTS

namespace IPC {
	enum IPC_MESSAGE_TYPE {
		VICON_DATA = 0x1,
		RESOURCE_REQUEST = 0X2,
		INFO_EVENT_REPORT = 0X3,
		ROBOT_COMM = 0x4,
	};
}

#endif
