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#include "../Behavior.h"

#include "navigationMap.h"

/** @brief Initializes the map */

navigationMap::navigationMap(std::string scoutname) : Behavior(scoutname)

{

  /** Initialize Map 

   *

   *   1           2          3         4

   *  ----|-----------|----------|---------|---------->

   *  <---|--5--------|--6-------|--7------|--8-------

   *      |           |          |         |

   *     9|         10|        11|       12|

   *      |           |          |         |

   *     ---         ---        ---       ---

   */

    Edge* a1 = {MAKE_EDGE(ISTRAIGHT, 2, 10), 

                MAKE_EDGE(IRIGHT, 9, 40),

                MAKE_EDGE(IUTURN, DEADEND, 0)};

    Edge* a2 = {MAKE_EDGE(ISTRAIGHT, 3, 10),

                MAKE_EDGE(IRIGHT, 10, 40),

                MAKE_EDGE(IUTURN, 5, 10)};

    Edge* a3 = {MAKE_EDGE(ISTRAIGHT, 4, 10),

                MAKE_EDGE(IRIGHT, 11, 40),

                MAKE_EDGE(IUTURN, 6, 10)};

    Edge* a4 = {MAKE_EDGE(ISTRAIGHT, DEADEND, 0),

                MAKE_EDGE(IRIGHT, 12, 40),

                MAKE_EDGE(IUTURN, 7, 10)};

    Edge* a5 = {MAKE_EDGE(ISTRAIGHT, DEADEND, 0),

                MAKE_EDGE(ILEFT, 9, 40),

                MAKE_EDGE(IUTURN, 2, 10)};

    Edge* a6 = {MAKE_EDGE(ISTRAIGHT, 5, 10),

                MAKE_EGE(ILEFT, 10, 40),

                MAKE_EDGE(IUTURN, 3, 10)};

    Edge* a7 = {MAKE_EDGE(ISTRAIGHT, 6, 10),

                MAKE_EGE(ILEFT, 11, 40),

                MAKE_EDGE(IUTURN, 4, 10)};

    Edge* a8 = {MAKE_EDGE(ISTRAIGHT, 7, 10),

                MAKE_EGE(ILEFT, 12, 40),

                MAKE_EDGE(IUTURN, DEADEND, 0)};

    Edge* a9 = {MAKE_EDGE(IRIGHT, 2, 10),

                MAKE_EGE(ILEFT, DEADEND, 0),

                MAKE_EDGE(IUTURN, 9, 40)};

    Edge* a10 = {MAKE_EDGE(IRIGHT, 3, 10),

                MAKE_EGE(ILEFT, 5, 10),

                MAKE_EDGE(IUTURN, 10, 40)};

    Edge* a11 = {MAKE_EDGE(IRIGHT, 4, 10),

                MAKE_EGE(ILEFT, 6, 10),

                MAKE_EDGE(IUTURN, 11, 40)};

    Edge* a12 = {MAKE_EDGE(IRIGHT, DEADEND, 0),

                MAKE_EGE(ILEFT, 7, 10),

                MAKE_EDGE(IUTURN, 12, 40)};

    map.pushback(a1);

    map.pushback(a2);

    map.pushback(a3);

    map.pushback(a4);

    map.pushback(a5);

    map.pushback(a6);

    map.pushback(a7);

    map.pushback(a8);

    map.pushback(a9);

    map.pushback(a10);

    map.pushback(a11);

    map.pushback(a12);

}

/** @brief Goes through and frees all allocated memory */

navigationMap::~navigationMap()

{

    while(!map.empty())

    {

      Edge** e = pop_back();

      for(int i=0; i<ARRAY_SIZE; i++)

      {

        delete e[i];

      }

    }

    return;

}

navigationMap::run()

{

}

navigationMap::get_state()

{

    return curr_state;

}

navigationMap::shortest_path(State target_state)

{

    // BFS algorithm

}

navigationMap::make_edge(Turn dir, State state, int dist)

{

    Edge* e = new Edge;

    e->direction = dir;

    e->state = state;

    e->distance = dist;

    return e;

}

#ifndef _NAVIGATION_MAP_

#define _NAVIGATION_MAP_

#include <cstdlib>

#include "linieDrive.h" // Get turn Macros

#define START_STATE 1

#define DEADEND -1

#define ARRAY_SIZE 3

#define GET_EDGE_DIR(edge) ((edge)&0x3)

#define GET_EDGE_STATE(edge) (((edge)>>2)&0xFF)

#define GET_EDGE_DIST(edge) (((edge)>>10)&0x3FFFFF)

#define SET_EDGE_DIR(dir) ((dir)&0x3)

#define SET_EDGE_STATE(state) (((state)&0xFF)<<2)

#define SET_EDGE_DIST(dist) (((dist)&0x3FFFFF)<<10)

#define MAKE_EDGE(dir, state, dist) \

SET_EDGE_DIR(dir)+SET_EDGE_STATE(state)+SET_EDGE_DIST(dist)

typedef int Edge;

typedef int State;

typedef int Turn;

class navigationMap : Behavior

{

    public:

        navigationMap(std::string scoutname);

        ~navigationMap();

        void run();

        State get_state();

        Turn* shortest_path(State target_state);

        Edge* get_outbound_edges();        

    private:

        vector <Edge*> map;

        State curr_state;

        Edge* make_edge(Turn dir, State state, int dist);

};

#endif