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

#include "DualCoding/DualCoding.h"
#include "Behaviors/Demos/Tapia/TapiaMarkerData.h"

using namespace DualCoding;

class TestMarkers : public VisualRoutinesBehavior {
public:
    TestMarkers() : VisualRoutinesBehavior("TestMarkers") {}

  virtual void DoStart() {
    VisualRoutinesBehavior::DoStart();
    
    const int pink_index = ProjectInterface::getColorIndex("pink");    
    const int blue_index = ProjectInterface::getColorIndex("blue");
    const int orange_index = ProjectInterface::getColorIndex("orange");

    MapBuilder::setVerbosity(-1u);

    MapBuilderRequest req(MapBuilderRequest::localMap);
    req.maxDist = 100000;
    req.rawY = true;
    req.clearShapes = false;

    req.markerTypes.insert(TapiaMarkerData::tapiaMarkerType);
    
    req.objectColors[markerDataType].insert(pink_index);
    req.objectColors[markerDataType].insert(blue_index);
    req.objectColors[markerDataType].insert(orange_index);
    
    unsigned int mapreq_id = mapBuilder.executeRequest(req);
    erouter->addListener(this, EventBase::mapbuilderEGID, mapreq_id, EventBase::statusETID);
  }
  
  virtual void processEvent(const EventBase &event) {
    cout << "MapBuilder returned " << event.getDescription() << endl;
    
    cout << "Found " << camShS.allShapes().size() << " cam shapes." << endl;
    SHAPEROOTVEC_ITERATE(camShS, s)
      s->printParams();
    END_ITERATE;
    
    cout << "Found " << localShS.allShapes().size() << " local shapes." << endl;
    SHAPEROOTVEC_ITERATE(localShS, s)
      s->printParams();
    END_ITERATE;
  }

};

#endif