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#ifndef _LolaAdaptor_h_
#define _LolaAdaptor_h_

// data representations
#include "Tools/LolaData.h"
#include "Tools/LolaDataConverter.h"
#include "Tools/DCMData.h"

// lola unix socket client
#include "Tools/Lola.h"

#include <Tools/ThreadUtil.h>
#include "Tools/SharedMemoryIO.h"
#include "Tools/BasicMotion.h"

#include "Tools/NaoTime.h"

#include <chrono>
#include <thread>
#include <unistd.h>

namespace naoth 
{

class LolaAdaptor
{
  
public:

  LolaAdaptor() 
    : 
    running(false),
    exiting(false),
    waitingForLola(true),
    shutdown_requested(false),
    state(DISCONNECTED),
    command_data_available(false),
    sensor_data_available(false),
    initialMotion(NULL),
    sem(SEM_FAILED)
  {
    // open semaphore
    if((sem = sem_open("motion_trigger", O_CREAT | O_RDWR, S_IRUSR | S_IWUSR, 0)) == SEM_FAILED)
    {
      perror("[LolaAdaptor] sem_open");
      ::exit(-1);
    }
    
    const std::string naoSensorDataPath = "/nao_sensor_data";
    std::cout<< "[LolaAdaptor] Opening Shared Memory: "<<naoSensorDataPath<<std::endl;
    naoSensorData.open(naoSensorDataPath);
    
    const std::string naoCommandMotorJointDataPath = "/nao_command.MotorJointData";
    const std::string naoCommandUltraSoundSendDataPath = "/nao_command.UltraSoundSendData";
    const std::string naoCommandLEDDataPath = "/nao_command.LEDData";

    std::cout << "[LolaAdaptor] Opening Shared Memory: " << naoCommandMotorJointDataPath << std::endl;
    naoCommandMotorJointData.open(naoCommandMotorJointDataPath);
    std::cout << "[LolaAdaptor] Opening Shared Memory: " << naoCommandUltraSoundSendDataPath << std::endl;
    naoCommandUltraSoundSendData.open(naoCommandUltraSoundSendDataPath);
    std::cout << "[LolaAdaptor] Opening Shared Memory: " << naoCommandLEDDataPath << std::endl;
    naoCommandLEDData.open(naoCommandLEDDataPath);

    // save the body ID
    std::string theBodyID = "ALDT_lola"; //theDCMHandler.getBodyID();
    std::cout << "[LolaAdaptor] bodyID: "<< theBodyID << std::endl;
    
    // save the nick name
    std::string theBodyNickName = "nao_lola"; //theDCMHandler.getBodyNickName();
    std::cout << "[LolaAdaptor] nickName: "<< theBodyNickName << std::endl;

    // save the value to file
    // FIXME: fixed path "Config/nao.info"
    {
      std::string staticMemberPath("Config/nao.info");
      std::ofstream os(staticMemberPath.c_str());
      ASSERT(os.good());
      os << theBodyID << "\n" << theBodyNickName << std::endl;
      os.close();
    }

  }
  
  ~LolaAdaptor()
  {
    // stop the thread before anything else
    stop();
    
    // close semaphore
    if(sem != SEM_FAILED)
    {
      sem_close(sem);
      sem = SEM_FAILED;
    }
  }
  
  static bool fileExists (const std::string& filename) {
    struct stat buffer;   
    return (stat (filename.c_str(), &buffer) == 0); 
  }

  void start() 
  {
    exiting = false;
    lolaThread = std::thread([this] {this->run();});
    //ThreadUtil::setPriority(lolaThread, ThreadUtil::Priority::highest);
    ThreadUtil::setName(lolaThread, "LOLA");

    // NOTE: SCHED_FIFO is a real time sheduler
    //       max priority for a FIFO thread is 99
    sched_param param;
    param.sched_priority = 50;
    if(pthread_setschedparam(lolaThread.native_handle(), SCHED_FIFO, &param)) {
      std::cerr << "[LolaAdaptor] error setting thread priority" << std::endl;
      assert(false);
    }

    // int tryCount = 0;
    while(waitingForLola && ! exiting)
    {
      fprintf(stderr, "[LolaAdaptor] Waiting for LoLA socket.\n");
      std::this_thread::sleep_for(std::chrono::milliseconds(125));
      // if(tryCount > 40 )
      // {
      //   fprintf(stderr, "[LolaAdaptor] Waiting for LoLA socket failed after %d ms.\n", tryCount * 125);
      //   waitingForLola = false;
      //   assert(false);
      // }
      // tryCount++;
    }
    fprintf(stderr, "[LolaAdaptor] LoLA socket connection established.\n");
    //HACK: pulseaudio is not initialized correctly, but after playing a sound as no it works?!?
  }
  
  void stop() 
  {
    std::cout << "[LolaAdaptor] stop wait" << std::endl;
    
    // request the thread to stop
    exiting = true;
    
    if(lolaThread.joinable()) {
      lolaThread.join();
    }
    std::cout << "[LolaAdaptor] stop done" << std::endl;
  }
  
  bool isRunning() const {
    return running;
  }
  
private:

  void run() 
  {
    int tryCount = 0;

    // end the thread if lola could not connect to the socket
    while(!fileExists("/tmp/robocup")) 
    {
      std::this_thread::sleep_for(std::chrono::milliseconds(250));
      if(tryCount > 20 )
      {
        fprintf(stderr, "[LolaAdaptor] Waiting for LoLa %d ms.\n", tryCount * 250);
        assert(false);
      }
      tryCount++;
    }
    std::this_thread::sleep_for(std::chrono::milliseconds(900));
    
    Lola lola;
    lola.connectSocket();
    if(lola.hasError())
    {
      fprintf(stderr, "[LolaAdaptor] Error while attemting to connect to LoLa socket.\n");
      assert(false);
    }

    waitingForLola = false;
    running = true;
    SensorData sensors;
    ActuatorData actuators;
    
    while(!exiting) 
    {
      lola.readSensors(sensors);
      
      // like old DCM motionCallbackPre
      if(!runEmergencyMotion(actuators))
      {
        // get the MotorJointData from the shared memory and put them to the DCM
        if ( naoCommandMotorJointData.swapReading() )
        {
          const Accessor<MotorJointData>* motorData = naoCommandMotorJointData.reading();
          
          // write MotorJointData to LolaActuatorData
          LolaDataConverter::set(actuators, motorData->get());

          //drop_count = 0;
          command_data_available = true;
        }

        if(naoCommandLEDData.swapReading())
        {
          const Accessor<LEDData>* commandData = naoCommandLEDData.reading();
          LolaDataConverter::set(actuators, commandData->get());
        }
      }
      lola.writeActuators(actuators);
      
      
      // like old DCM motionCallbackPost
      DCMSensorData* sensorData = naoSensorData.writing();
      
      // current system time (System time, not nao time (!))
      sensorData->timeStamp = NaoTime::getSystemTimeInMilliSeconds();

      // copy sensor data to shared memory 
      LolaDataConverter::readSensorData(sensors, *sensorData);

      // check if chest button was pressed as a request to shutdown
      // each cycle needs 12ms so if the button was pressed for 3 seconds
      // these are 250 frames
      sensorData->get(theButtonData);
      if(!shutdown_requested && theButtonData.numOfFramesPressed[ButtonData::Chest] > 250)
      {
        shutdown_requested = true;
        //exit(-1);
        // break;
        shutdownCallbackThread = std::thread([this]{this->shutdownCallback();});
      }

      // save the data for the emergency case
      if(state == DISCONNECTED) {
        std::cout << "get inertial sensor data" << std::endl;
        sensorData->get(theInertialSensorData);
        sensor_data_available = true;
      } else {
        sensor_data_available = false;
      }

      // push the data to shared memory
      naoSensorData.swapWriting();

      // notify cognition
      notify();
    }
    
    running = false;
  }
  
  void setWarningLED(ActuatorData& actuators, bool red)
  {
    static naoth::LEDData theLEDData;<--- Technically the member function 'naoth::LolaAdaptor::setWarningLED' can be static. [+]The member function 'naoth::LolaAdaptor::setWarningLED' can be made a static function. Making a function static can bring a performance benefit since no 'this' instance is passed to the function. This change should not cause compiler errors but it does not necessarily make sense conceptually. Think about your design and the task of the function first - is it a function that must not access members of class instances?
    static int count = 0;
    
    int begin = ((++count)/10)%10;
    theLEDData.theMonoLED[LEDData::EarRight0 + begin] = 0;
    theLEDData.theMonoLED[LEDData::EarLeft0 + begin] = 0;
    int end = (begin+2)%10;
    theLEDData.theMonoLED[LEDData::EarRight0 + end] = 1;
    theLEDData.theMonoLED[LEDData::EarLeft0 + end] = 1;

    for(int i=0; i<LEDData::numOfMultiLED; i++)
    {
      theLEDData.theMultiLED[i][LEDData::RED] = red ? 1 : 0;
      theLEDData.theMultiLED[i][LEDData::GREEN] = 0;
      theLEDData.theMultiLED[i][LEDData::BLUE] = red ? 0 : 1;
    }
    LolaDataConverter::set(actuators, theLEDData);
  }//end setWarningLED

  bool runEmergencyMotion(ActuatorData& actuators)
  {
    if(state == DISCONNECTED)
    {
      if(initialMotion == NULL && command_data_available && sensor_data_available)
      {
         std::cout << "emerg: start init motion" << std::endl;
         // take the last command data
        const Accessor<MotorJointData>* commandData = naoCommandMotorJointData.reading();
        initialMotion = new BasicMotion(theMotorJointData, commandData->get(), theInertialSensorData);
      }

      setWarningLED(actuators, state == DISCONNECTED);
    }//end if

    // after reconnect: wait until the init motion is finished
    if(initialMotion != NULL)
    {
      if(state == CONNECTED && initialMotion->isFinish())
      {
        std::cout << "emerg: stop init motion" << std::endl;
        delete initialMotion;
        initialMotion = NULL;
      }
      else
      {
        // execute the emergency motion 
        // (the resulting joint commands are written to theMotorJointData)
        initialMotion->execute();
        
        // write MotorJointData to LolaActuatorData
        LolaDataConverter::set(actuators, theMotorJointData);
      }
    }//end if
   
    return initialMotion != NULL;
  }//end runEmergencyMotion

  void notify() 
  {  
    static int drop_count = 10;

    // raise the semaphore: triggers core<--- The scope of the variable 'drop_count' can be reduced. [+]The scope of the variable 'drop_count' can be reduced. Warning: Be careful when fixing this message, especially when there are inner loops. Here is an example where cppcheck will write that the scope for 'i' can be reduced:
void f(int x)
{
    int i = 0;
    if (x) {
        // it's safe to move 'int i = 0;' here
        for (int n = 0; n < 10; ++n) {
            // it is possible but not safe to move 'int i = 0;' here
            do_something(&i);
        }
    }
}
When you see this message it is always safe to reduce the variable scope 1 level.
    if(sem != SEM_FAILED)
    {
      int sval;
      if(sem_getvalue(sem, &sval) == 0)
      {
        if(sval < 1)
        {
          sem_post(sem);

          if(state == DISCONNECTED) {
            fprintf(stderr, "[LolaAdaptor] I think the core is alive.\n");
          }

          drop_count = 0;
          state = CONNECTED;
        }
        else
        {
          if(drop_count == 0) {
            fprintf(stderr, "[LolaAdaptor] dropped sensor data.\n");
          } else if(drop_count == 10) {
            fprintf(stderr, "[LolaAdaptor] I think the core is dead.\n");
            state = DISCONNECTED;
          }

          // don't count more than 11
          drop_count += (drop_count < 11);
        }//end if
      }
      else
      {
        fprintf(stderr, "[LolaAdaptor] I couldn't get value by sem_getvalue.\n");
      }
    }//end if SEM_FAILED
  }


  void shutdownCallback()
  {
    // play a sound that the user knows we recognized his shutdown request<--- Technically the member function 'naoth::LolaAdaptor::shutdownCallback' can be static. [+]The member function 'naoth::LolaAdaptor::shutdownCallback' can be made a static function. Making a function static can bring a performance benefit since no 'this' instance is passed to the function. This change should not cause compiler errors but it does not necessarily make sense conceptually. Think about your design and the task of the function first - is it a function that must not access members of class instances?
    system("paplay /opt/aldebaran/share/naoqi/wav/bip_power_off.wav");

    // stop the user program
    std::cout << "[LolaAdaptor] stopping naoth" << std::endl;
    // stop naoth to trigger emergency motion
    system("killall naoth");
    // in NaoSMAL it's like this
    //system("naoth stop");

    sleep(5);

    // we are the child process, do a blocking call to shutdown
    std::cout << "[LolaAdaptor] System shutdown requested" << std::endl;
    system("/sbin/shutdown -h now");

    // await termination
    while(true) {
      sleep(100);
    }

  }//end shutdownCallback
  

private:
  bool running;
  bool exiting;
  bool waitingForLola;
  std::thread lolaThread;

  // these things are necessary to handle shutdown
  ButtonData theButtonData;
  bool shutdown_requested;
  std::thread shutdownCallbackThread;

  enum State
  {
    DISCONNECTED,
    CONNECTED
  } state;

  // sitdown motion in case the Controller dies
  bool command_data_available;
  bool sensor_data_available;
  MotorJointData theMotorJointData;
  InertialSensorData theInertialSensorData;
  BasicMotion* initialMotion;

  // DCM --> NaoController
  SharedMemory<DCMSensorData> naoSensorData;

  // NaoController --> DCM
  //SharedMemory<NaoCommandData> naoCommandData;
  SharedMemory<Accessor<MotorJointData> > naoCommandMotorJointData;
  SharedMemory<Accessor<UltraSoundSendData> > naoCommandUltraSoundSendData;
  SharedMemory<Accessor<LEDData> > naoCommandLEDData;

  // syncronize with NaoController
  sem_t* sem;
};

}

#endif //_LolaAdaptor_h_
Cppcheck report - [project name]: Framework/Platforms/Source/DCM/LolaAdaptor/LolaAdaptor.h
