/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "Aria.h"

void mapChanged(void)
{
  printf("mapTest: # Map changed\n");
}

int main(int argc, char **argv)
{

  Aria::init();
  ArLog::init(ArLog::StdOut, ArLog::Verbose);

  ArMap testMap;

  ArTime timer;

  ArGlobalFunctor mapChangedCB(&mapChanged);
  testMap.addMapChangedCB(&mapChangedCB);


  if (argc <= 1)
  {
    printf("mapTest: Usage %s <map> <map2:optional>\n", argv[0]);
    Aria::exit(1);
  }

  timer.setToNow();
  if (!testMap.readFile(argv[1]))
  {
    printf("mapTest: Could not read map '%s'\n", argv[1]);
    Aria::exit(2);
  }
  printf("mapTest: Took %ld ms to read file\n", timer.mSecSince());
/*
  printf("mapTest: ChangeTimes (in ms): mapObjects %ld points %ld mapInfo %ld\n",
	 testMap.getMapObjectsChanged().mSecSince(),
	 testMap.getPointsChanged().mSecSince(),
	 testMap.getMapInfoChanged().mSecSince());
*/
  timer.setToNow();
  if(!testMap.writeFile("mapTest.map"))
  {
    printf("mapTest: Error could not write new map to mapTest.map");
    Aria::exit(3);
  }
  printf("mapTest: Took %ld ms to write file mapTest.map\n", timer.mSecSince());

  std::list<ArMapObject *>::iterator objIt;
  ArMapObject *obj;
  for (objIt = testMap.getMapObjects()->begin(); 
       objIt != testMap.getMapObjects()->end(); 
       objIt++)
  {
    obj = (*objIt);
    printf("mapTest: Map object: %s named \"%s\". Pose: %0.2f,%0.2f,%0.2f. ", obj->getType(), obj->getName(), obj->getPose().getX(), obj->getPose().getY(), obj->getPose().getTh());
    if(obj->hasFromTo())
      printf("mapTest: Extents: From %0.2f,%0.2f to %0.2f,%0.2f.", obj->getFromPose().getX(), obj->getFromPose().getY(), obj->getToPose().getX(), obj->getToPose().getY());
    printf("mapTest: \n");

/*
    if (strcasecmp(obj->getType(), "Goal") == 0 ||
	strcasecmp(obj->getType(), "GoalWithHeading") == 0)
    {
      printf("mapTest: Map object: Goal %s\n", obj->getName());
    }
    else if (strcasecmp(obj->getType(), "ForbiddenLine") == 0 &&
	obj->hasFromTo())
    {
      printf("mapTest: Map object: Forbidden line from %.0f %.0f to %.0f %.0f\n",
	     obj->getFromPose().getX(), obj->getFromPose().getY(),
	     obj->getToPose().getX(), obj->getToPose().getY());
    }

*/

  }

  std::list<ArArgumentBuilder*>* objInfo = testMap.getMapInfo();
  for(std::list<ArArgumentBuilder*>::const_iterator i = objInfo->begin();
      i != objInfo->end();
      i++)
  {
    printf("mapTest: MapInfo object definition:\n----\n");
    (*i)->log();
    printf("mapTest: ----\n");
  }

  printf("mapTest: First 5 data points:\n");
  std::vector<ArPose>::iterator pIt;
  ArPose pose;
  int n = 0;
  for (pIt = testMap.getPoints()->begin(); 
       pIt != testMap.getPoints()->end(); 
       pIt++)
  {
    pose = (*pIt);
    if (n > 5)
      exit(0);
    printf("mapTest: \t%.0f %.0f\n", pose.getX(), pose.getY());
    n++;
    // the points are gone through
  }

  if (argc >= 3)
  {
    timer.setToNow();
    if (!testMap.readFile(argv[2]))
    {
      printf("mapTest: Could not read map '%s'\n", argv[2]);
    }
    printf("mapTest: Took %ld ms to read file2\n", timer.mSecSince());
/*
    ArUtil::sleep(30);
    printf("mapTest: ChangeTimes (in ms): mapObjects %ld points %ld mapInfo %ld\n",
	   testMap.getMapObjectsChanged().mSecSince(),
	   testMap.getPointsChanged().mSecSince(),
	   testMap.getMapInfoChanged().mSecSince());
*/
    timer.setToNow();
    testMap.writeFile("mapTest2.map");
    printf("mapTest: Took %ld ms to write file2\n", timer.mSecSince());
  }  

  // now test it with the config stuff
  ArArgumentBuilder builder;
  builder.setExtraString("Map");
  builder.add(argv[1]);
  printf("mapTest: Trying config with map (%s)\n", argv[1]);
  Aria::getConfig()->parseArgument(&builder);
  Aria::getConfig()->callProcessFileCallBacks(true, NULL, 0);
  printf("mapTest: Trying config again with same map (%s)\n", argv[1]);
  Aria::getConfig()->parseArgument(&builder);
  Aria::getConfig()->callProcessFileCallBacks(true, NULL, 0);
  if (argc >= 3)
  {
    ArArgumentBuilder builder2;
    builder2.setExtraString("Map");
    builder2.add(argv[2]);
    printf("mapTest: Trying config with map2 (%s)\n", argv[2]);
    Aria::getConfig()->parseArgument(&builder2);
    Aria::getConfig()->callProcessFileCallBacks(true, NULL, 0);
  }
  
}