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/**
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 * The code in this package was developed using the structure of Willow
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 * Garage's turtlesim package.  It was modified by the CMU Robotics Club
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 * to be used as a simulator for the Colony Scout robot.
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 *
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 * All redistribution of this code is limited to the terms of Willow Garage's
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 * licensing terms, as well as under permission from the CMU Robotics Club.
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 * 
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 * Copyright (c) 2011 Colony Project
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 * 
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 * 
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 * The above copyright notice and this permission notice shall be
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 * included in all copies or substantial portions of the Software.
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 * 
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 * Copyright (c) 2009, Willow Garage, Inc.
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 * All rights reserved.
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 * 
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 * Redistribution and use in source and binary forms, with or without
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 * modification, are permitted provided that the following conditions are met:
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 * 
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 *    Redistributions of source code must retain the above copyright
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 *       notice, this list of conditions and the following disclaimer.
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 *    Redistributions in binary form must reproduce the above copyright
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 *       notice, this list of conditions and the following disclaimer in the
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 *       documentation and/or other materials provided with the distribution.
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 *    Neither the name of the Willow Garage, Inc. nor the names of its
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 *       contributors may be used to endorse or promote products derived from
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 *       this software without specific prior written permission.
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 * 
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 */
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#ifndef _SCOUTSIM_SCOUT_H_
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#define _SCOUTSIM_SCOUT_H_
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#include <ros/ros.h>
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#include <vector>
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#include <boost/shared_ptr.hpp>
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#include <motors/set_motors.h>
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#include <encoders/query_encoders.h>
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#include <linesensor/query_linesensor.h>
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#include <sonar/sonar_distance.h>
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#include <scoutsim/Pose.h>
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#include <scoutsim/SetPen.h>
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#include <scoutsim/Color.h>
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#include <geometry_msgs/Pose2D.h>
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#include <wx/wx.h>
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#include "scoutsim_internal.h"
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#include "scout_constants.h"
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#define PI 3.14159265
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#define NUM_LINESENSORS 8
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// Distance, pixels, from center of robot to the linesensors.
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#define LNSNSR_D 20
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namespace scoutsim
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{
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    struct Vector2
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    {
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        Vector2()
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            : x(0.0)
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              , y(0.0)
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        {}
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        Vector2(float new_x, float new_y)
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            : x(new_x)
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              , y(new_y)
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        {}
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        bool operator==(const Vector2& rhs)
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        {
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            return x == rhs.x && y == rhs.y;
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        }
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        bool operator!=(const Vector2& rhs)
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        {
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            return x != rhs.x || y != rhs.y;
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        }
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        float x;
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        float y;
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    };
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    class Scout
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    {
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        public:
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            Scout(const ros::NodeHandle& nh,const wxImage& scout_image,
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                  const Vector2& pos, wxBitmap *path_bitmap, float orient);
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            geometry_msgs::Pose2D update(double dt, wxMemoryDC& path_dc,
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                                         wxMemoryDC& sonar_dc,
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                                         bool sonar_on,
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                                         const wxImage& path_image,
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                                         const wxImage& lines_image,
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                                         const wxImage& walls_image,
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                                         wxColour background_color,
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                                          wxColour sonar_color,
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                                         world_state state);
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            void paint(wxDC& dc);
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        private:
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            float absolute_to_mps(int absolute_speed);
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            void setMotors(const motors::set_motors::ConstPtr& msg);
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            bool setPenCallback(scoutsim::SetPen::Request&,
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                                scoutsim::SetPen::Response&);
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            bool query_encoders_callback(encoders::query_encoders::Request&,
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                                         encoders::query_encoders::Response&);
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            bool query_linesensor_callback(linesensor::query_linesensor::Request&,
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                                           linesensor::query_linesensor::Response&);
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            unsigned int rgb_to_grey(unsigned char r,
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                                     unsigned char g,
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                                     unsigned char b);
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            unsigned int trace_sonar(const wxImage& walls_image, int x, int y,
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                                     double robot_theta, int sonar_pos,
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                                     wxMemoryDC& sonar_dc, bool sonar_on);
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            void update_sonar(const wxImage& walls_image, int x, int y,
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                              double robot_theta, wxMemoryDC& sonar_dc,bool sonar_on);
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            void update_linesensor(const wxImage& lines_image, int x, int y,
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                                   double theta);
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            int old_front_dx;
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            int old_front_dy;
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            int old_back_dx;
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            int old_back_dy;
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            bool isFront;
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            wxBitmap *path_bitmap;
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            bool sonar_on;
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            ros::NodeHandle node;
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            wxImage scout_image;
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            wxBitmap scout;
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            Vector2 pos;
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            float orient;
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            /// @todo should these be an array or something?
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            // Keep track of the last commanded speeds sent to the sim,
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            // converted to m/s
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            float motor_fl_speed;
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            float motor_fr_speed;
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            float motor_bl_speed;
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            float motor_br_speed;
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            // Keep track of encoder ticks for each motor
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            unsigned int fl_ticks;
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            unsigned int fr_ticks;
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            unsigned int bl_ticks;
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            unsigned int br_ticks;
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            int sonar_position;
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            int sonar_stop_l;
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            int sonar_stop_r;
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            int sonar_direction;
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            // The last time the sonar changed its position.
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            ros::Time last_sonar_time;
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            ros::Duration sonar_tick_time;
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            // A vector of the 8 linesensor readings
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            std::vector<unsigned int> linesensor_readings;
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            // Each scout has a unique id number, which is also displayed on its image.
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            int scout_id;
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            bool pen_on;
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            wxPen pen;
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            ros::Subscriber motors_sub;
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            ros::Publisher pose_pub;
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            ros::Publisher color_pub;
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            ros::Publisher sonar_pub;
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            ros::ServiceServer set_pen_srv;
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            ros::ServiceServer query_encoders_srv;
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            ros::ServiceServer query_linesensor_srv;
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            ros::WallTime last_command_time;
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    };
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    typedef boost::shared_ptr<Scout> ScoutPtr;
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}
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#endif