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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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 * 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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/**
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 * @file navigationMap.h
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 * @brief Contains navigation map Behavior declarations and definitions
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 * 
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 * Contains functions and definitions for the use of
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 * navigation map Behavior 
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 *
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 * @author Colony Project, CMU Robotics Club
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 * @author Priya Deo
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 * @author Lalitha
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 * @author James
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 * @author Leon
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 **/
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#ifndef _NAVIGATION_MAP_
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#define _NAVIGATION_MAP_
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#include <cstdlib>
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#include <queue>
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#include "../Behavior.h"
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//#include "lineDrive.h" // Get turn Macros
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/** Turn defintions */
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#define ISTRAIGHT        0
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#define ILEFT                1
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#define IRIGHT                2
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#define IUTURN                3
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#define START_STATE 1
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#define DEADEND 255
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#define ARRAY_SIZE 3
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#define MAX_NODES 12
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#define SPEED 10 //distance_unit per s
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#define DROPOFF_TIME 10 //seconds
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#define TURN_TIME 3 //Seconds
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#define NUM_ROBOTS 2 
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#define WAIT_TIME (TURN_TIME * NUM_ROBOTS) //Seconds
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/** used to extract information from an encoded Edge */
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#define GET_EDGE_DIR(edge) ((edge)&0x3)
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#define GET_EDGE_STATE(edge) (((edge)>>2)&0xFF)
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#define GET_EDGE_DIST(edge) (((edge)>>10)&0x3FFFFF)
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/** used to change or build an Edge's information */
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#define SET_EDGE_DIR(dir) ((dir)&0x3)
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#define SET_EDGE_STATE(state) (((state)&0xFF)<<2)
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#define SET_EDGE_DIST(dist) (((dist)&0x3FFFFF)<<10)
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#define MAKE_EDGE(dir, state, dist) \
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  SET_EDGE_DIR(dir)+SET_EDGE_STATE(state)+SET_EDGE_DIST(dist)
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/** an integer with a direction, an associated state, and distance
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 *  encoded into its bits*/
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typedef unsigned int Edge;
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/** a simple number representing the number of a node*/
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typedef unsigned int State;
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/** a number representing a type of turn, as defined above*/
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typedef unsigned int Turn;
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/** a list of turns to follow a path */
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typedef struct{
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  int len;
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  Turn* path;
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} Path;
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class navigationMap : Behavior
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{
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  /** ASCII Representation of the map
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   *
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   *   1           2          3         4
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   *  ----|-----------|----------|---------|---------->
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   *  <---|--5--------|--6-------|--7------|--8-------
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   *      |           |          |         |
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   *     9|         10|        11|       12|
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   *      |           |          |         |
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   *     ---         ---        ---       ---
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   */
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  public:
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    /** Initializes the navigation map */
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    navigationMap(std::string scoutname);
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    /** Goes through and frees all allocated memory */
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    ~navigationMap();
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    /** FSM implementation */
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    void run();
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    /** sets the current state to the state associated with the turn made */
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    State update_state(Turn turn_made);
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    /** returns the predicted time of arrival for our current task */
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    Time get_eta();
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    /** returns the predicted amount of time it will take to finish our task */
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    Duration get_time_remaining();
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    /** returns the Edges connecting from a given State */
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    Edge* get_outbound_edges(State state);  
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    /** returns the current state of the scout in the map*/
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    State get_state();
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    /** uses BFS to find the shortest path to a target State node */
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    Path shortest_path(State start_state, State target_state);
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    Path shortest_path(State target_state);
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    /** returns the predicted worst case time it will take to travel from src to dest nodes */
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    Duration get_worst_case_time(State start_state, State target_state);
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  private:
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    /** the dynamic array of edge arrays representing individual State nodes */
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    std::vector <Edge*> map;
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    /** the current State node */
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    State curr_state;
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    /** the predicted time of arrival for our current task */
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    Time arrival_time;
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};
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#endif