/*
 * Copyright (C) 2019 AIRC 01
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distribution under the License is distribution on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: Base class for distribution simualtion
 * Author: Zhang Shuai
 * Date: 28 March 2019
 */

#ifdef _WIN32
// Ensure that Winsock2.h is included before Windows.h, which can get
// pulled in by anybody (e.g., Boost).
#include <Winsock2.h>
#endif

// #include <tbb/parallel_for.h>
// #include <tbb/blocked_range.h>
// #include <float.h>

#include <boost/bind.hpp>
#include <boost/function.hpp>
// #include <boost/thread/recursive_mutex.hpp>
// #include <sstream>

// #include "gazebo/util/OpenAL.hh"
// #include "gazebo/common/KeyFrame.hh"
// #include "gazebo/common/Animation.hh"
// #include "gazebo/common/Plugin.hh"
// #include "gazebo/common/Events.hh"
// #include "gazebo/common/Exception.hh"
// #include "gazebo/common/Console.hh"
// #include "gazebo/common/CommonTypes.hh"

// #include "gazebo/physics/Gripper.hh"
// #include "gazebo/physics/Joint.hh"
// #include "gazebo/physics/JointController.hh"
// #include "gazebo/physics/Link.hh"
// #include "gazebo/physics/World.hh"
// #include "gazebo/physics/PhysicsEngine.hh"
// #include "gazebo/physics/Model.hh"
// #include "gazebo/physics/Contact.hh"

// #include "gazebo/transport/Node.hh"

#include "gazebo/physics/Distribution.hh"

using namespace gazebo;
using namespace physics;

//////////////////////////////////////////////////
Distribution::Distribution()
{
}

//////////////////////////////////////////////////
Distribution::~Distribution()
{
  this->Fini();
}

//////////////////////////////////////////////////
void Distribution::Load(sdf::ElementPtr _sdf)
{

  if (_sdf)
    this->sdf = _sdf;

  if (this->sdf->HasElement("gazebo_id"))
  {
    sdf::ElementPtr gazeboIdElem = this->sdf->GetElement("gazebo_id");
    while (gazeboIdElem)
    {
      GazeboIDPtr GazeboID(new physics::GazeboID());
      GazeboID->Load(gazeboIdElem);
      this->gazeboIDs.push_back(GazeboID);
      gazeboIdElem = gazeboIdElem->GetNextElement("gazebo_id");
    }
  }
}

//////////////////////////////////////////////////
unsigned int Distribution::GetGazeboID(unsigned int _i)
{
  return gazeboIDs[_i]->GetGazeboID();
}

//////////////////////////////////////////////////
GazeboIDPtr Distribution::GetGazeboIDPtr(unsigned int _gazeboID)
{
  GazeboIDPtr result;
  for (unsigned int i = 0; i < this->GetGazeboCount(); i++)
  {
    if (this->GetGazeboID(i) == _gazeboID)
    {
      result = gazeboIDs[i];
      break;
    }
  }
  return result;
}

//////////////////////////////////////////////////
unsigned int Distribution::GetGazeboCount()
{
  return gazeboIDs.size();
}

//////////////////////////////////////////////////
void Distribution::Fini()
{
  this->gazeboIDs.clear();
  this->sdf.reset();
}