//---------------------------------------------------------------------------
//  Copyright (c) Jim Wright 2004
//
//  MarkovRoomDlg.cpp
//  This is the header for the diaglog based application this was basically  
//  from the Project Wizard.
//
//---------------------------------------------------------------------------

#include "stdafx.h"
#include "MarkovRoom.h"
#include "MarkovRoomDlg.h"

#ifdef _DEBUG
#define new DEBUG_NEW
#endif

#define POSITION_ROBOT_STATE    0
#define GET_FIRST_READING_STATE 1
#define TURN_THE_ROBOT          2
#define READ_A_SECOND_TIME      3
#define FINISHED                4

// CAboutDlg dialog used for App About

class CAboutDlg : public CDialog
{
public:
	CAboutDlg();

// Dialog Data
	enum { IDD = IDD_ABOUTBOX };

	protected:
	virtual void DoDataExchange(CDataExchange* pDX);    // DDX/DDV support

// Implementation
protected:
	DECLARE_MESSAGE_MAP()
};

CAboutDlg::CAboutDlg() : CDialog(CAboutDlg::IDD)
{
}

void CAboutDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
}

BEGIN_MESSAGE_MAP(CAboutDlg, CDialog)
END_MESSAGE_MAP()


// CMarkovRoomDlg dialog



CMarkovRoomDlg::CMarkovRoomDlg(CWnd* pParent /*=NULL*/)
	: CDialog(CMarkovRoomDlg::IDD, pParent)
  , m_MainRobot(10,10,380,280)
  , m_State(POSITION_ROBOT_STATE)
{
	m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
}

void CMarkovRoomDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
}

BEGIN_MESSAGE_MAP(CMarkovRoomDlg, CDialog)
	ON_WM_SYSCOMMAND()
	ON_WM_PAINT()
	ON_WM_QUERYDRAGICON()
	//}}AFX_MSG_MAP
  ON_BN_CLICKED(IDC_BRunMarkov, OnBnClickedBrunmarkov)
  ON_NOTIFY(NM_CUSTOMDRAW, IDC_InitalAngle, OnNMCustomdrawInitalangle)
END_MESSAGE_MAP()


// CMarkovRoomDlg message handlers

BOOL CMarkovRoomDlg::OnInitDialog()
{
	CDialog::OnInitDialog();
  CStatic* myStatic;

	// Add "About..." menu item to system menu.

	// IDM_ABOUTBOX must be in the system command range.
	ASSERT((IDM_ABOUTBOX & 0xFFF0) == IDM_ABOUTBOX);
	ASSERT(IDM_ABOUTBOX < 0xF000);

	CMenu* pSysMenu = GetSystemMenu(FALSE);
	if (pSysMenu != NULL)
	{
		CString strAboutMenu;
		strAboutMenu.LoadString(IDS_ABOUTBOX);
		if (!strAboutMenu.IsEmpty())
		{
			pSysMenu->AppendMenu(MF_SEPARATOR);
			pSysMenu->AppendMenu(MF_STRING, IDM_ABOUTBOX, strAboutMenu);
		}
	}

	// Set the icon for this dialog.  The framework does this automatically
	//  when the application's main window is not a dialog
	SetIcon(m_hIcon, TRUE);			// Set big icon
	SetIcon(m_hIcon, FALSE);		// Set small icon

  /*
  ** Add the walls for the MArkov room
  */
  m_MainRobot.AddWall(new CJimLine(CJimPoint(0,0),CJimPoint(0,18)));
  m_MainRobot.AddWall(new CJimLine(CJimPoint(0,18),CJimPoint(6,18)));
  m_MainRobot.AddWall(new CJimLine(CJimPoint(6,18),CJimPoint(18,6)));
  m_MainRobot.AddWall(new CJimLine(CJimPoint(18,6),CJimPoint(18,0)));
  m_MainRobot.AddWall(new CJimLine(CJimPoint(18,0),CJimPoint(0,0)));

  /*
  ** Sets the robot and gets it ready for the simulation
  */
  m_MainRobot.SetLocation(CJimPoint(5,5));
  m_MainRobot.RunWallData();

  /*
  ** Sets up the slider
  */
  CSliderCtrl* mySlider = (CSliderCtrl*) this->GetDlgItem(IDC_InitalAngle);
  mySlider->SetRange(0,359);
  mySlider->SetTicFreq(1);

  CString myText;
  CStatic* myInitTheta = (CStatic*) this->GetDlgItem(IDC_InitalTheta);
  CStatic* myInitX = (CStatic*) this->GetDlgItem(IDC_InitX);
  CStatic* myInitY = (CStatic*) this->GetDlgItem(IDC_InitY);
  myText = "5";
  myInitX->SetWindowText(myText);
  myInitY->SetWindowText(myText);
  myText = "0";
  myInitTheta->SetWindowText(myText);

  /*
  ** Clear the statics on the screen
  */
  myText = "";
  myStatic = (CStatic*) this->GetDlgItem(IDC_SSensor1);
  myStatic->SetWindowText(myText);
  myStatic = (CStatic*) this->GetDlgItem(IDC_SSensor2);
  myStatic->SetWindowText(myText);
  myStatic = (CStatic*) this->GetDlgItem(IDC_SAngle1);
  myStatic->SetWindowText(myText);

	return TRUE;  // return TRUE  unless you set the focus to a control
}

void CMarkovRoomDlg::OnSysCommand(UINT nID, LPARAM lParam)
{
	if ((nID & 0xFFF0) == IDM_ABOUTBOX)
	{
		CAboutDlg dlgAbout;
		dlgAbout.DoModal();
	}
	else
	{
		CDialog::OnSysCommand(nID, lParam);
	}
}

// If you add a minimize button to your dialog, you will need the code below
//  to draw the icon.  For MFC applications using the document/view model,
//  this is automatically done for you by the framework.

void CMarkovRoomDlg::OnPaint() 
{
	if (IsIconic())
	{
		CPaintDC dc(this); // device context for painting

		SendMessage(WM_ICONERASEBKGND, reinterpret_cast<WPARAM>(dc.GetSafeHdc()), 0);

		// Center icon in client rectangle
		int cxIcon = GetSystemMetrics(SM_CXICON);
		int cyIcon = GetSystemMetrics(SM_CYICON);
		CRect rect;
		GetClientRect(&rect);
		int x = (rect.Width() - cxIcon + 1) / 2;
		int y = (rect.Height() - cyIcon + 1) / 2;

		// Draw the icon
		dc.DrawIcon(x, y, m_hIcon);
	}
	else
	{
		CDialog::OnPaint();
    m_MainRobot.DrawPage(this->GetDC());
	}
}

// The system calls this function to obtain the cursor to display while the user drags
//  the minimized window.
HCURSOR CMarkovRoomDlg::OnQueryDragIcon()
{
	return static_cast<HCURSOR>(m_hIcon);
}

void CMarkovRoomDlg::OnBnClickedBrunmarkov()
{
  CSliderCtrl* mySlider = (CSliderCtrl*) this->GetDlgItem(IDC_InitalAngle);
  CEdit* myEditBox;
  CStatic* myStatic;
  int angle;
  double sensorreading;
  CString myString;

  switch(m_State)
  {
    /*
    ** This is the read the slider state to get the sensor data.
    */
    case(POSITION_ROBOT_STATE):
      angle = mySlider->GetPos();
      m_MainRobot.SetTheta(this->GetDC(),angle);
      sensorreading = m_MainRobot.GetSensorData(angle);
      myEditBox = (CEdit*) this->GetDlgItem(IDC_ESensor1);
      myString.Format("%1.4f",sensorreading);
      myEditBox->SetWindowText(myString);
      m_State=GET_FIRST_READING_STATE;
      break;
    /*
    ** Once the sensor is read then find the porbabilities of the directions that the robot
    ** could be facing.
    */
    case(GET_FIRST_READING_STATE):
      myEditBox = (CEdit*) this->GetDlgItem(IDC_ESensor1);
      myStatic = (CStatic*) this->GetDlgItem(IDC_SSensor1);
      myEditBox->GetWindowText(myString);
      myStatic->SetWindowText(myString);
      sensorreading = atof(myString.GetBuffer());
      m_MainRobot.RunMarkovSensor(this->GetDC(),sensorreading,RGB(0,128,0));
      myEditBox = (CEdit*) this->GetDlgItem(IDC_EAngle1);
      myString.Format("50");
      myEditBox->SetWindowText(myString);
      m_State=TURN_THE_ROBOT;
      break;
    /*
    ** Turn the robot
    */
    case(TURN_THE_ROBOT):
      myEditBox = (CEdit*) this->GetDlgItem(IDC_EAngle1);
      myStatic = (CStatic*) this->GetDlgItem(IDC_SAngle1);
      myEditBox->GetWindowText(myString);
      angle = (int)atof(myString.GetBuffer());
      m_MainRobot.RunMarkovEncoder(this->GetDC(),angle,RGB(0,0,128));
      angle += (int)m_MainRobot.GetTheta();
      m_MainRobot.SetTheta(this->GetDC(),angle);
      myString.Format("%1.4f",angle);
      myStatic->SetWindowText(myString);
      sensorreading = m_MainRobot.GetSensorData(angle);
      myEditBox = (CEdit*) this->GetDlgItem(IDC_ESensor2);
      myString.Format("%1.4f",sensorreading);
      myEditBox->SetWindowText(myString);
      m_State=READ_A_SECOND_TIME;
      break;
    /*
    ** Read the sensor again and then find the porbabilities of the directions that the robot
    ** could be facing.
    */
    case(READ_A_SECOND_TIME):
      myEditBox = (CEdit*) this->GetDlgItem(IDC_ESensor2);
      myStatic = (CStatic*) this->GetDlgItem(IDC_SSensor2);
      myEditBox->GetWindowText(myString);
      myStatic->SetWindowText(myString);
      sensorreading = atof(myString.GetBuffer());
      m_MainRobot.RunMarkovSensor(this->GetDC(),sensorreading,RGB(255,255,0));
      m_State=FINISHED;
      break;
    default:
      break;
  }

}

/*
** The method called from the slider
*/

void CMarkovRoomDlg::OnNMCustomdrawInitalangle(NMHDR *pNMHDR, LRESULT *pResult)
{
  CString myString;
  LPNMCUSTOMDRAW pNMCD = reinterpret_cast<LPNMCUSTOMDRAW>(pNMHDR);
  CSliderCtrl* mySlider = (CSliderCtrl*) this->GetDlgItem(IDC_InitalAngle);
  CStatic* myInitTheta = (CStatic*) this->GetDlgItem(IDC_InitalTheta);
  
  myString.Format("%d",mySlider->GetPos());
  myInitTheta->SetWindowText(myString);
  m_MainRobot.SetTheta(this->GetDC(),mySlider->GetPos());

  *pResult = 0;
}