//-*-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 GoHome : public ArmNode {
	public:
		GoHome() : ArmNode("GoHome") {}

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

	class SayReady : public StateNode {
	public:
		SayReady() : StateNode("SayReady") {}

		virtual void DoStart() {
			cout << "Ready." << endl;
			sndman->speak("ready");
		}
	};

	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() {
			int const numJoints = 3;
			RRTStateVector stateVec(3000, numJoints);
			const KinematicJoint*  goodroot = kine->getKinematicJoint(ArmShoulderOffset);
			
			KinematicJoint *n = const_cast<KinematicJoint*>(goodroot);
		
			vector<PlannerObstacle*> obstacles;
			NEW_SHAPEVEC(blobs, EllipseData, select_type<EllipseData>(localShS))
			SHAPEVEC_ITERATE(blobs, EllipseData, b)
				CircularObstacle * ob = new CircularObstacle();
				ob->centerPoint = fmat::pack(b->getCentroid().coordX(), b->getCentroid().coordY());
				ob->radius = max(b->getSemimajor(), b->getSemiminor()) / 2.0f;
		
				cout<<"Obstacle at "<<ob->centerPoint[0]<<","<<ob->centerPoint[1]<<" with radius "<<ob->radius<<endl;
				obstacles.push_back(ob);
			END_ITERATE;
			
			
			
			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];
                        n->setQ(startSt[i]);
                        n = n->nextJoint();
                }

			endSt[0] = startSt[0] > 0 ? -1.2 : 1.4;
			endSt[1] = 0;
			endSt[2] = 0;
			

			const KinematicJoint* gripper = kine->getKinematicJoint(GripperFrameOffset);
			fmat::Column<3> where = gripper->getWorldPosition();
			
			
			NEW_SHAPE(tgt, PointData, new PointData(localShS, DualCoding::Point(where[0], where[1], where[2])));

			RRTPath path;
			if ( !rrtp.Plan(path, startSt, endSt, &obstacles) ) {
				cout << "No path" << endl;
				postStateCompletion();
				return;
			}

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

		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(500);
			}
		}
	};


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

	virtual void setup() {
#statemachine
  startnode: LookDown() =C=> GoHome() =C=> 
		loop: SayReady() =B(GreenButOffset)=>
  		FindObstacles() =MAP=>
			  ExecutePath() =C=> loop
#endstatemachine
			}

};

#endif