/*********************************************************************************************
* example.c : Generic autonomous agent for Netmaze 0.96
* Thomas Voegtlin , may 2001
*
**********************************************************************************************
*
* initialization :
*  A call to init_netmaze returns a structure 
*  that contains sensory and motor information
*
*  netmaze = (struct shared_struct*) netmaze_init(argc,argv);
*
**********************************************************************************************
*
* sensory inputs are :
*
*        float netmaze->Retina[];               //the visual fields. 4 float/pixel, RGBA
*        float netmaze->RangeFinder[];          //range finder info: 1 float
*        float netmaze->HorizRangeFinder[];     //horizontal line in the middle of the visual field
*        int   netmaze->Collisions[256];        //tactile info
*        int   netmaze->Fitness;                //internal state (pain if low - dead if zero)
*
**********************************************************************************************
*  
*  Retina and RangeFinder contain (netmaze->gamewidth)*(netmaze->gameheight) pixels
*  HorizRangeFinder contains (netmaze->gamewidth) pixels
*
**********************************************************************************************
* 
*  Collision sensors are placed around the body of the agent:                  
*                                     
*                                        
*                       2 1 0 255
*                     . . . . . . . .       
*                    .               .    
*                   .   -----------   .                
*                  .   /           \   .                
*                 .   /             \   .         
*                .   /      /|\      \   .   
*                .  |      / | \      |  .                    
*                .  |        |        |  .                                         
*                .  |        |        |  .                                         
*                .  |        |        |  .
*                 .  \       |       /  .    
*                  .  \      |      /  .    
*                   .  \           /  .     
*                    .  -----------  .                
*                     . . . . . . . .
*                         127 128           
*                                        
*
**********************************************************************************************
*
*  Motors : 
*                  
*  a motor action is a boolean combination of the following integer constants:
*     JOY_LEFT   : turn left
*     JOY_RIGHT  : right turn
*     JOY_UP     : go forward
*     JOY_DOWN   : go back
*     JOY_BUTTON : shoot
*
*
**********************************************************************************************
*/

#include "netmaze.h"
struct shared_struct* netmaze;

int choose_action()
{
  int motor=0;  /*motor action*/
  int sensor;
  for(sensor=0;sensor<128;sensor++)
    {
      if(netmaze->Collisions[128+sensor]>0) 
	{ /* if obstacle on the right then turn left*/
	  printf("collision %d\n",128+sensor);
	  motor |= JOY_LEFT;	break;
	}
      if(netmaze->Collisions[127-sensor]>0)
	{ /*if obstacle on the left then turn right*/ 
	  printf("collision %d\n",127-sensor);
	  motor |= JOY_RIGHT;	break;
	}
    }
  motor|=JOY_UP; /*We also want to move forward*/
  return motor;
}


int main(int argc,char **argv)
{

  int i,j;
  float a,b;

  /*****************************************************
   * Initialization of Netmaze's environment and threads 
   */
  netmaze = (struct shared_struct*) netmaze_init(argc,argv);

  /*****************************************************
   * Main loop - 
   */
  while(!netmaze->exitprg)
    {
      /*here stimuli are read*/
      netmaze_read_sensors();
      /*
      for(i=0;i<netmaze->gamewidth;i++)
	for(j=0;j<netmaze->gameheight;j++)      
	  {
	    a = netmaze->Retina[ i+j*netmaze->gamewidth ];
	    b = 1-netmaze->RangeFinder[ i+j*netmaze->gamewidth ];
	  }
      */
      netmaze_write_motors(choose_action());
    }
}