/* 
 * This Software is the original work of Daniel TUNG 
 * This Software is submitted in partial fulfillment of the 
 * requirements for the degree of BCSE.  
 * Dept. Computer Science, Monash University 2000 
 * 
 *   Copyright (c) 2000 beetung@cs.monash.edu.au 
 * 			beetung@geocities.com 
 */

#ifndef NAVBRAIN
#define NAVBRAIN

#include "car.h"
#include "streamer.h"
#include "xwin.h"
#include "fastbuf.h"

////
////
////
////
/////////////////////////////////////////////////
class NavBrain {
/////////////////////////////////////////////////

 private:
	     Car& aCar;
	Streamer& aStreamer;
      	    Xwin& aXwin;
	  Fastbuf *iCCD;
	
 public:
	//-------------------------------------------
	NavBrain(Car& c, Streamer& s, Xwin& x) : aCar(c), aStreamer(s), aXwin(x) 
	//-------------------------------------------
	{

	Timer dt;
	dt.start();

	int centerPrev =-1;

		// until our Xwindow is closed
		//
		while (aXwin) {

		if (! aXwin.isSettingNode ) {


			iCCD = aStreamer.grab1Frame();	// obtain 1 frame
//			aStreamer.isReady();		// block till ready

			aXwin.setBaseFrame(iCCD);	// set the baseFrame to current buffer


			iCCD->swimNodes(); // allow nodes to swim
			iCCD->drawNodes(); // draw onto the buffer space

	{ int a;cin >> a; }
		   int center =iCCD->getNodeCenter(); //  get the center X position
	{ int a;cin >> a; }
		aXwin.setBaseFrame(iCCD);	// set the baseFrame to current buffer
	{ int a;cin >> a; }
		   aXwin.drawBaseFrame();		// draw it on screen
	{ int a;cin >> a; }
		   aXwin.markPoint( 120, center , 0xff0000);

//		aCar.steerOn( iCCD->nodesAverage() );	//

#define WAIT_TIME (0.67)
	if ( center != 0 ) { // no center found, no nodes initialized yet?

	   if (dt > WAIT_TIME) {

	        dt.reset();

#define WINSIZE (50)

		if ( center < 128 + WINSIZE) { 		// go left
		cout << " go left : " <<dt <<  endl;
		aCar.steerOn( CarOp::F_LEFT );

		} else if (center > 256 -WINSIZE) { 	// go right
		cout << " go right : " <<dt <<  endl;
		aCar.steerOn( CarOp::F_RIGH );

		} else {			// go center
		cout << " go foward : " <<dt <<  endl;
		aCar.steerOn( CarOp::FORW );

		}
		dt.start();
		cout.flush();
	   }

/*	if ( abs (centerPrev-center) < STRAIGHT_AHEAD ) {
	}
*/
	} else { 
	
	   if (dt > WAIT_TIME) {
		cout << "no center yet : " << center << endl;
		centerPrev = center;
		dt.reset();
		aCar.steerOn( CarOp::HALT);
		dt.start();
		cout.flush();
	   }
	}


		} else {
			 Timer t(0.5);	// zzz for 500 mSec
			 t.block();
		}

		}
	}

		
};
#endif