//-*-c++-*-
#ifndef INCLUDED_MapBuilderDemo_h_
#define INCLUDED_MapBuilderDemo_h_

#include "DualCoding/DualCoding.h"
#include "Events/EventBase.h" 
#include "Sound/SoundManager.h"

using namespace DualCoding;

class MapBuilderDemo : public VisualRoutinesBehavior {
public:
  MapBuilderDemo(): VisualRoutinesBehavior("MapBuilderDemo") {}
  
  virtual void DoStart() {
    VisualRoutinesBehavior::DoStart();
    
    const int pink_index = ProjectInterface::getColorIndex("pink");
    const int orange_index = ProjectInterface::getColorIndex("orange");
    const int green_index = ProjectInterface::getColorIndex("green");
    const int yellow_index = ProjectInterface::getColorIndex("yellow");

    vector<Point> gazePts;
    gazePts.push_back(Point(220,80,-100));
    gazePts.push_back(Point(350,300,-100));
    gazePts.push_back(Point(1000,0,-100));
    gazePts.push_back(Point(350,-300,-100));
    gazePts.push_back(Point(220,-80,-100));
    gazePts.push_back(Point(300,0,-100));
    localShS.clear();
    NEW_SHAPE(gazePoly, PolygonData, new PolygonData(localShS, gazePts, false));

    MapBuilderRequest req(MapBuilderRequest::localMap);
    req.searchArea = gazePoly;
    req.pursueShapes = true;
    req.maxDist = 1000;
    req.rawY = true;
    req.clearShapes = false;

    req.objectColors[lineDataType].insert(pink_index);
    req.occluderColors[lineDataType].insert(orange_index);
    req.occluderColors[lineDataType].insert(yellow_index);
    req.occluderColors[lineDataType].insert(green_index);

    req.objectColors[ellipseDataType].insert(orange_index);
    req.objectColors[ellipseDataType].insert(yellow_index);
    req.objectColors[ellipseDataType].insert(green_index);

    unsigned int mapreq_id = mapBuilder.executeRequest(req);
    erouter->addListener(this, EventBase::mapbuilderEGID, mapreq_id, EventBase::statusETID);
  }

  virtual void processEvent(const EventBase &event) {
    cout << "MapBuilder returned " << event.getDescription() << endl;
    sndman->playFile("barklow.wav");

    cout << "Found " << camShS.allShapes().size() << " cam shapes." << endl;
    SHAPEROOTVEC_ITERATE(camShS, s)
      s->printParams();
    END_ITERATE;

    cout << "Found " << localShS.allShapes().size() << " local shapes." << endl;
    SHAPEROOTVEC_ITERATE(localShS, s)
      s->printParams();
    END_ITERATE;
  }

  virtual std::string getName() const {return "MapBuilderDemo"; }
  
};

#endif