// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2013/03/25
//  filename:   Simulator_impl.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    classe de base du Simulator
//
/*********************************************************************/

#include "Simulator_impl.h"
#include "Simulator.h"
#include "Euler.h"
#ifdef GL
#include "Gui.h"
#include "Gui_impl.h"
#endif
#include "Model.h"
#include "Model_impl.h"
#include <unistd.h>

using namespace flair::core;
using namespace flair::simulator;

Simulator_impl::Simulator_impl(Simulator* self,int optitrack_mstime,float yaw_deg): vrpn_Connection_IP(), Thread(self,"simulator",1)
{
    this->self=self;
    this->optitrack_mstime=optitrack_mstime;
    yaw_rad=Euler::ToRadian(yaw_deg);
}

Simulator_impl::~Simulator_impl()
{
    //printf("del Simulator_impl\n");

    SafeStop();
    Join();

    for(size_t i=0;i<models.size();i++)
    {
        models.at(i)->pimpl_->SafeStop();
        models.at(i)->pimpl_->Join();
        delete models.at(i);
    }

#ifdef GL
    if(getGui()!=NULL) delete getGui();
#endif

     //printf("del Simulator_impl ok\n");
}

void Simulator_impl::Run(void)
{
    SetPeriodMS(optitrack_mstime);

    while(ToBeStopped()==false)
	{
	    WaitPeriod();
//printf("%lld\n",GetTime());
        mainloop();
        for(size_t i=0;i<models.size();i++)
        {
            models.at(i)->pimpl_->mainloop();
        }
	}
}


void Simulator_impl::RunSimu(void)
{
    if(models.size()==0)
    {
        self->Err("No model to run\n");
        return;
    }

    for(size_t i=0;i<models.size();i++)
    {
        models.at(i)->pimpl_->Start();
    }

    Start();

#ifdef GL
    if(getGui()!=NULL)
    {
        getGui()->pimpl_->RunGui(models,objects);
    }
    else
#endif
    {
        models.at(0)->pimpl_->Join();
    }

    SafeStop();
    Join();
}