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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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#include <wx/wx.h>
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#include <wx/event.h>
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#include <wx/timer.h>
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#include <wx/string.h>
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#include <wx/utils.h>
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#include <sys/stat.h>
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#include <ros/ros.h>
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#include <std_srvs/Empty.h>
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#include <scoutsim/Spawn.h>
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#include <scoutsim/Kill.h>
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#include <scoutsim/SetSonarViz.h>
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#include <scoutsim/SetGhost.h>
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#include <scoutsim/SetTeleop.h>
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#include <messages/set_motors.h>
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#include <map>
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#include "scout.h"
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#include "emitter.h"
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#include "ghost_scout.h"
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#include "scoutsim_internal.h"
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#include "messages/WirelessPacket.h"
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#define SCOUTSIM_NUM_SCOUTS 1
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#define ID_ABOUT 1
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#define ID_QUIT 2
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#define ID_CLEAR 3
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#define ID_MAP 4
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#define ID_LINES 5
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#define ID_WALLS 6
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#define ID_TELEOP_NONE 7
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#define ID_TELEOP_PRECISE 8
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#define ID_TELEOP_FLUID 9
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// Absolute speeds (-100 - 100)
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/// @todo: Clean this up a little; we should be risking overflowing shorts.
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#define TELEOP_PRECISE_SPEED 47
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#define TELEOP_PRECISE_TURN_SPEED 98
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#define TELEOP_FLUID_MAX_SPEED 79
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#define TELEOP_FLUID_INC 6
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// Teleop types
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#define TELEOP_OFF 0
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#define TELEOP_PRECISE 1
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#define TELEOP_FLUID 2
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//Scout DImensions
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#define SCOUT_H 0.25
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#define SCOUT_W 0.125
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namespace scoutsim
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{
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    class SimFrame : public wxFrame
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    {
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        public:
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            SimFrame(wxWindow* parent, std::string map_name);
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            ~SimFrame();
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            std::string spawnScout(const std::string& name,
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                    float x, float y, float angle);
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            std::string spawnEmitter(const std::string& name,
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                    float x, float y, float angle);
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            void onQuit(wxCommandEvent& event);
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            void onAbout(wxCommandEvent& event);
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            void onClear(wxCommandEvent& event);
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            void showMap(wxCommandEvent& event);
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            void showLines(wxCommandEvent& event);
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            void showWalls(wxCommandEvent& event);
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            void stopTeleop(wxCommandEvent& event);
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            void startTeleopPrecise(wxCommandEvent& event);
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            void startTeleopFluid(wxCommandEvent& event);
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            DECLARE_EVENT_TABLE()
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        private:
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            typedef std::map<std::string, ScoutPtr> M_Scout;
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            typedef std::map<std::string, EmitterPtr> M_Emitter;
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            void onUpdate(wxTimerEvent& evt);
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            void onPaint(wxPaintEvent& evt);
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            bool fileExists(const std::string& filename);
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            void teleop_move_precise();
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            void teleop_move_fluid();
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            void teleop();
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            void updateScouts();
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            void clear();
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            bool hasScout(const std::string& name);
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            bool hasEmitter(const std::string& name);
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            bool clearCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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            bool resetCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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            bool spawnCallback(Spawn::Request&, Spawn::Response&);
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            bool spawnEmCallback(Spawn::Request&, Spawn::Response&);
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            bool killCallback(Kill::Request&, Kill::Response&);
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            bool setSonarVizCallback(SetSonarViz::Request&, SetSonarViz::Response&);
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            bool setGhostCallback(SetGhost::Request&, SetGhost::Response&);
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            bool setTeleopCallback(SetTeleop::Request&, SetTeleop::Response&);
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            void wirelessCallback(const messages::WirelessPacket::ConstPtr& msg);
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            bool is_inrange(geometry_msgs::Pose2D scout_pos, 
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                         geometry_msgs::Pose2D emitter_pos,
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                         double aperture, double distance);
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            void checkBOM(geometry_msgs::Pose2D scout_pos,
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                          M_Scout::iterator it); 
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            int getActiveEmitter(geometry_msgs::Pose2D bom_pos);
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            ros::Subscriber wireless_send;
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            ros::Publisher wireless_receive;
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            // Teleop
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            short teleop_l_speed;
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            short teleop_r_speed;
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            ros::Publisher teleop_pub;
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            std::string teleop_scoutname;
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            int teleop_type;
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            int teleop_fluid_speed;
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            int teleop_fluid_omega;
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            ros::NodeHandle nh;
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            wxTimer* update_timer;
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            wxBitmap path_bitmap;
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            wxImage path_image;
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            wxImage lines_image;
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            wxImage walls_image;
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            wxMemoryDC path_dc;
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            wxMemoryDC sonar_dc;
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            uint64_t frame_count;
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            ros::WallTime last_scout_update;
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            ros::ServiceServer clear_srv;
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            ros::ServiceServer reset_srv;
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            ros::ServiceServer spawn_srv;
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            ros::ServiceServer spawn_em_srv;
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            ros::ServiceServer kill_srv;
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            ros::ServiceServer set_sonar_viz_srv;
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            ros::ServiceServer set_ghost_srv;
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            ros::ServiceServer set_teleop_srv;
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            M_Scout scouts;
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            M_Emitter emitters;
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            std::vector<GhostScout*> ghost_scouts;
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            uint32_t id_counter;
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            uint32_t BOM_counter;
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            std::string images_path;
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            float width_in_meters;
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            float height_in_meters;
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            //Emitter default values
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            double em_aperture;
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            double em_distance;
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            std::string map_base_name;
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            std::string map_lines_name;
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            std::string map_walls_name;
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            std::string display_map_name;
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    };
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}