# include <iostream.h>
# include <fstream.h>
# include <stdio.h>
# include <math.h> 
 
#include <LEDA/list.h>
#include <LEDA/point.h>
#include <LEDA/segment.h>
#include <LEDA/polygon.h>
#include <LEDA/window.h>
#include <LEDA/array2.h>
#include <LEDA/ps_file.h>


#include "Include/VisibilityGlobalFunctions/angSeg.h"
#include "Include/VisibilityGlobalFunctions/VisibilityPolygon.h"
#include "Include/VisibilityGlobalFunctions/stVisibility.h"

#include "Include/stConfig.h"
#include "Include/Camera/stAVCamera.h"
#include "Include/Camera/stCLCamera.h"
#include "Include/stVisRobotR2S.h"

#include "Include/VisibilityStrategy/stMotionManager.C"

char * generateFileName(char *fileName,const char *label,
			char *ext,int num);

int main()
{
  window win(400,400,"Visibility ");
  win.button("Exit",-1,exit);
  win.display();
  
  stMotionManager MotionManager("data.motion");
  
  MotionManager.draw(win);

  int fileNum = 0;
  
  do
    {
      int mouseCase;
      point mousePt;
      mouseCase = win.get_mouse(mousePt);
      
      
      
      if(mouseCase!= NO_BUTTON)
	
	{
	  
	  win.clear();
	  MotionManager.focusToMaxEscTime( mousePt,10 );
	  MotionManager.draw(win);


	  char fileName[40];
	  generateFileName(fileName,"PostOut/frame","ps",fileNum++);

	  ps_file psOutFile(fileName);
	  MotionManager.drawPostScript(psOutFile);
	  psOutFile.draw_text_node( mousePt,"T", violet);
	  psOutFile.close();


	  win.draw_text_node( mousePt,"T", violet);
	 
	}
    } while(1);


}

char * generateFileName(char *fileName,const char *label,
			char *ext,int num)
{
  strcpy(fileName,label);

  if(num < 10)
    strcat(fileName,"0");
  char ch[4];
  sprintf(ch,"%d",num);
  strcat(fileName,ch);
   strcat(fileName,".");
 strcat(fileName,ext);
  return fileName;
}