// script.hh

#ifndef SCRIPT_LOADED
#define SCRIPT_LOADED

#include <iostream.h>
#include <fstream.h>
#include <strstream.h>
#include <assert.h>
#include <vector.h>
#include <strings.h>

#include "Timer.hh"
#include "P_Motion.hh"
#include "O_LaserScan.hh"
#include "O_SonarScan.hh"

const int maxStringLength = 4096;
const int maxNumberOfProximityReadings = 1024;

#define origScriptOpenMark "@OPEN"
#define origScriptPosMark "#ROBOT"
#define origScriptBumperMark "#BUMP"
#define origScriptSonarMark "#SONAR"
#define origScriptLaserMark "#LASER"
#define origScriptMarkerMark  "#MARKER:"
#define origScriptTimeMark "@SENS"
#define origScriptImageMark "#IMAGE"
const int origScriptTimeOffset = 9;

//#define newScriptOpenMark "begin(patternset)"
#define newScriptOpenMark "begin(pattern)"
#define newScriptPosMark "position:"
#define newScriptBumperMark ""
#define newScriptSonarMark "sonars"
#define newScriptLaserMark "lasers"
#define newScriptMarkerMark  "marker:"
#define newScriptTimeMark "time:"
#define newScriptImageMark "image"
const int newScriptTimeOffset = 0;

#define scriptBumpMark "#BUMP"

const int NO_ITEM_TYPE = -1;
const int LASER_ITEM_TYPE = 0;
const int SONAR_ITEM_TYPE = 1;


#define SCRIPT_TYPE_NOT_SET 0
#define OLD_SCRIPT_TYPE     1
#define NEW_SCRIPT_TYPE     2

typedef struct {
  State position;
  float timeStamp;
} refPos;

/////////////////////////////////////////////////////////////////
//  Reads a script and sends the data via tcx.
/////////////////////////////////////////////////////////////////

class script {
public:
  
  script( string& fileName,	
	  string& refPosFile,
	  bool useSonar = true,
	  bool useLaser = false,
	  float timeFactor = 1.0,
	  float skipDistance = 20.0,
	  int startTime = 0,
	  int numberOfLaserScanners = 1,
	  int scriptType = SCRIPT_TYPE_NOT_SET);

  void              readReferencePositions( string& fileName);
  inline State      getRefPos();

  inline void       setTimeFactor( float timeFactor);

  bool              updateObservation( O_SonarScan* scan);
  bool              updateObservation( O_LaserScan* scan);
  
  inline bool       useSonar() const;
  inline bool       useLaser() const;
  
protected:

  bool                    getNextItem();
  inline bool             getNextLine( char* line);
  inline bool             readingLine(char *line, char *mark);
  inline Timer            getTime(char *line, char *mark, int offset);
  inline State            extractPosition( char* line, char *mark);
  inline bool             extractLaserScan( char* line, O_LaserScan&
scan);
  inline bool             extractSonarScan( char* line, O_SonarScan&
scan);
  
private:
  char *fileName;
  O_LaserScan _laser;
  O_SonarScan _sonar;
  State       _scriptPosition;

  bool  _useSonar;
  bool  _useLaser;
  bool  _realTimeMode;
  
  char *timeMark;
  char *positionMark;
  char *laserMark;
  char *sonarMark;
  char *imageMark;
  int timeOffset;
  int _scriptType;
  
  Timer _startTime;
  Timer _previousTime;

#ifdef USE_ZLIB
  gzFile _zFile;
#else
  FILE*  _file;
#endif
  FILE*  _stdin;
  
  Timer  _realTime;
  float  _elapsedTime;
  float  _elapsedTimeSinceLastMeasurement;

  float  _timeFactor;
  float  _timeSkipped;
  
  float  _skipDistance;
  float  _skipTime;
  vector<refPos> _referencePositions;
};

extern State referencePosition;

#endif