#include "type.h"


window W(WWIDTH,WHEIGHT);
evader E;
ps_file PS(15.0, 15.0, "00.ps");
list<obstacle> O;
ofstream logfile;
long max_mem;
long total_nodes;
long tree_length;
drrt D(20,20);

void read_data(char *, char *);

int main(){
  double i=0;
  double x, y, x1, y1, len;
  double eoldx,eoldy, epoldx, epoldy;
  obstacle obs;
  polygon poly;
  max_mem = DRRT_SIZE;
  total_nodes = 0;
  tree_length = 0;
  clock_t begintime, endtime;

  static char a[7] = { '0', '0', '0'};
  char name[7];

  begintime = clock();

  logfile.open("logfile.txt");

  read_data("poly","funct");

  W.display();
 
  forall(obs, O){
    poly = obs.body(i);
    W.draw_filled_polygon(poly);
    }
   
  D.initialize();

  W.read_mouse(x,y);
  E.setx(x); E.sety(y);
  E.initialize();
  eoldx = x; eoldy = y;
  epoldx = x; epoldy = y;

  while(!D.move()){
    if (W.get_mouse(x1,y1)){
      x = x1 - eoldx;
      y = y1 - eoldy;

      len = x*x+y*y;
      len = sqrt(len);

      x /= len;
      y /= len;

      x *= STEP;
      y *= STEP;

      x += eoldx;
      y += eoldy;      
      E.setx(x); E.sety(y);
      }

    i++;


    // Prepare file name.
    if ( int(a[2]) == int('9') + 1 )
    {
           a[2] = '0';
           a[1] = char( int(a[1]) + 1 );


           if ( int(a[1]) == int('9') + 1 )
           {
                 a[1] = '0';
                 a[0] = char( int(a[0]) + 1 );


                 if ( a[0] == char(int('4') + 1) )
	   	     exit (0);
           }

    }     
    strcpy (name, "");
    strcpy (name, a );
    strcat (name, ".ps");
    a[2] = char( int(a[2]) + 1 );  // increment file name.

    PS.newfile(15.0, 15.0, name );
    W.clear();

    cout << "Size of O for window is :"<< O.size() << endl;
    // Draw obstacles to window and postscript file.
    forall(obs, O)
    {  
      poly = obs.body(i);
      W.draw_filled_polygon(poly);

      if (! (poly.vertices()).empty() )
         PS.draw_filled_polygon( poly.vertices() );

    }


	
    // Draw Evader
    W.draw_disc(E.getx(),E.gety(),2,color(0,255,0));
    PS.draw_disc(E.getx(),E.gety(),2,color(0,255,0));

    // Draw line of Evader's position from old to new location.
    W.draw_segment(E.getx(),E.gety(),eoldx,eoldy,color(0,255,0));
    PS.draw_segment(E.getx(),E.gety(),eoldx,eoldy,color(0,255,0));

    // Draw the predicted location of the Evader.
    W.draw_segment(E.predictedx,E.predictedy,epoldx,epoldy,color(0,0,255));
    PS.draw_segment(E.predictedx,E.predictedy,epoldx,epoldy,color(0,0,255));




    eoldx = E.getx();
    eoldy = E.gety();
    epoldx = E.predictedx;
    epoldy = E.predictedy;

    }
  endtime = clock();
  endtime = (endtime - begintime)/CLOCKS_PER_SEC; 

  cout << "yea!!" << endl;

  cout << "This run took a maximum of " << max_mem;
  cout << " nodes to find a solution!" << endl;
  cout << "The total number of nodes made was: " << total_nodes << endl;
  cout << "The length of the solution was " << tree_length << " nodes long!"<< endl;
  cout << "Total time to solution: " << endtime << " seconds!" <<endl;

  logfile.close();

  char ch;
  printf( "Press ENTER (or RETURN) to continue...");
  scanf( "%c", &ch);

  return(0);
  }

  
void read_data(char * polyname, char * functname){
  ifstream polyfile;
  ifstream functfile;
  double a, b, c;
  polygon body;
  obstacle * obs;
  polyfile.open(polyname);
  functfile.open(functname);
  while(polyfile){
    polyfile >> body;
    functfile >> a;
    functfile >> b;
    functfile >> c;
    if(polyfile){
      obs = new obstacle(body, a, b, c);
      O.push(*obs);
      }
    }
  polyfile.close();
  functfile.close();
  }


/*
void Draw_In_Window(double eoldx, double eoldy, double epoldx, double epoldy )
{
    static double i=0;
    obstacle obs;
    polygon poly;

    static char a[7] = { '0', '0' };
    char name[7];


    // Prepare file name.
    if ( int(a[1]) == int('9') + 1 )
    {
           a[1] = '0';
           a[0] = char( int(a[0]) + 1 );

           if ( a[0] == char(int('9') + 1) )
		exit (0);
    }     
    strcpy (name, "");
    strcpy (name, a );
    strcat (name, ".ps");

    ps_file ps(15.0, 15.0, name );

    W.clear();

    i++;

    // Draw obstacles.
    forall(obs, O)
    {  
       poly = obs.body(i);
       W.draw_filled_polygon(poly);

       poly = obs.poly;
       ps.draw_filled_polygon( poly.vertices() );
    }

    // Draw Evader
    W.draw_disc(E.getx(),E.gety(),2,color(0,255,0));
    ps.draw_disc(E.getx(),E.gety(),2,color(0,255,0));

    // Draw line of Evader's position from old to new location.
    W.draw_segment(E.getx(),E.gety(),eoldx,eoldy,color(0,255,0));
    ps.draw_segment(E.getx(),E.gety(),eoldx,eoldy,color(0,255,0));

    // Draw the predicted location of the Evader.
    W.draw_segment(E.predictedx,E.predictedy,epoldx,epoldy,color(0,0,255));
    ps.draw_segment(E.predictedx,E.predictedy,epoldx,epoldy,color(0,0,255));


    a[1] = char( int(a[1]) + 1 );

    ps.close();

}
*/