//-*-c++-*-
#ifndef INCLUDED_Lab10_h_
#define INCLUDED_Lab10_h_

#include "Behaviors/StateMachine.h"
#include "DualCoding/DualCoding.h"
#include "Planners/RRT/RRTPlanner.h"
#include "Sound/SoundManager.h"

using namespace std;
using namespace DualCoding;

class Lab10 : public VisualRoutinesStateNode {
public:

	class LookDown : public HeadPointerNode {
	public:
		LookDown() : HeadPointerNode("LookDown") {}

		virtual void DoStart() {
			getMC()->setJoints(0, -0.167, -1.2);
		}
	};

	class FindObstacles : public MapBuilderNode {
	public:
		FindObstacles() : MapBuilderNode("FindObstacles",MapBuilderRequest::localMap) {}

		virtual void DoStart() {
			mapreq.addObjectColor(ellipseDataType, "pink");
			mapreq.addObjectColor(ellipseDataType, "blue");
			mapreq.addObjectColor(ellipseDataType, "green");
		}
	};

	class ExecutePath : public DynamicMotionSequenceNode {
	public:
		ExecutePath() : DynamicMotionSequenceNode("ExecutePath") {}

		virtual void DoStart() {
			vector<PlannerObstacle*> obstacles;
			NEW_SHAPEVEC(ellipses, EllipseData, select_type<EllipseData>(localShS))
				SHAPEVEC_ITERATE(ellipses, EllipseData, e)
				CircularObstacle * ob = new CircularObstacle();
			ob->centerPoint = fmat::pack(e->getCentroid().coordX(), e->getCentroid().coordY());
			ob->radius = max(e->getSemimajor(), e->getSemiminor()) / 2.0f;
			cout<<"Obstacle at "<<ob->centerPoint[0]<<","<<ob->centerPoint[1]<<" with radius "<<ob->radius<<endl;
			obstacles.push_back(ob);
			END_ITERATE;
			
			unsigned int const numJoints = 3;
			RRTStateVector stateVec(6000, numJoints);
			const KinematicJoint*  goodroot = kine->getKinematicJoint(ArmShoulderOffset);
			RRTPlanner rrtp(stateVec, goodroot, numJoints, NULL, 1000, 0.0001f, M_PI/60.0f, M_PI/120.0f);
			/* Generate the instance of the planner
				 stateVec		- RRTStateVector* for where to store the states used in planning
				 goodroot		- The start of the kinematics chain you want to use
				 numJoints (optional)	- How many joints down the kinematic chain you want to go
				 1000 (optional)		- The maximum number of iterations you want the planner to go through
				 0.4f (optional)		- The allowed error between two states to call them "equal". Make lower for better results, but may not converge
				 M_PI/30.0f (optional)	- The largest change each joint can change by between states
				 M_PI/120.0f (optional)	- The largest change each joint can change by during an interpolation check (finer grain so it won't miss any obstacles)
			*/
			
			RRTStateDef startSt(numJoints), endSt(numJoints);
			for(unsigned int i = 0; i < numJoints; i++)
				startSt[i] = state->outputs[ArmShoulderOffset + i];
			endSt[0] = startSt[0] > 0 ? -1.2 : 1.4;
			endSt[1] = 0;
			endSt[2] = 0;

            RRTPath path;
			if ( !rrtp.Plan(path, startSt, endSt, &obstacles) ) {
				postStateSignal<bool>(0);
				return;
			}

            /*******
             * OUR CODE BEGINS HERE
             *******/
            PostureEngine *simulator = new PostureEngine();
            generateSimulatedPostures(simulator, path);
            /**
             * OUR CODE ENDS HERE
             **/

			getMC()->clear();
			generatePostures(path);
			getMC()->play();
		}

        /*******
         * OUR CODE BEGINS HERE
         *******/
        // Simulates the motion with a fake posture engine.
        void generateSimulatedPostures(PostureEngine *&simulator, const RRTPath &path) {
            rgb red, blue, green;

            red.red = blue.blue = green.green = 255;
            green.red = green.blue = red.blue = red.green = blue.red = blue.green = 0;

            simulator->clear();

			for(unsigned int i = 0; i < path.size(); i++) {
				for(unsigned int j = 0; j < path[i].size(); j++) 
				    // moves the arm to the next point 
                    simulator->setOutputCmd(ArmOffset+j, path[i][j]);

                // gets the coordinates in the base frame
			    const KinematicJoint* gripper = simulator->getKinematicJoint(GripperFrameOffset);
			    fmat::Column<3> where = gripper->getWorldPosition();
                PointData *tgtPoint = new PointData(localShS, DualCoding::Point(where[0], where[1], where[2]));

                // color it accordingly
                if (i == path.size()-1)
                    tgtPoint->setColor(blue);
                else if (i>0)
                    tgtPoint->setColor(red);
                else
                    tgtPoint->setColor(green);
            
                NEW_SHAPE(tgt, PointData, tgtPoint);
            }
            return;
        }
        /**
         * OUR CODE ENDS HERE
         **/

		void generatePostures(const RRTPath& path) {
			cout << "Making postures..." << endl;
			getMC()->setTime(3000);
			for(unsigned int i = 0; i < path.size(); i++) {
				cout << "Step " << i << "   ";
				for(unsigned int j = 0; j < path[i].size(); j++) {
					cout << "  " << j << ": " << path[i][j];
					getMC()->setOutputCmd(ArmOffset+j, path[i][j]);
				}
				cout << endl;
				getMC()->advanceTime(1000);
			}
		}
	};


  Lab10() : VisualRoutinesStateNode("Labl10") {}

	virtual void setup() {
#statemachine
  startnode: LookDown() =C=>
		loop: SpeechNode("ready") =B(GreenButOffset)=>
  		FindObstacles() =MAP=>
			  exec: ExecutePath() =C=> loop

		exec =S<bool>=> SpeechNode("No path found.") =T(2500)=> loop
#endstatemachine
			}

};

#endif