/*
Behavior - construct arduino programs as a bunch of behaviors.

Copyright (c) 2007, giuliano carlini and Susan Rendina. All rights reserved.

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
*/

extern "C" {
//    #include <stdlib.h>
    #include <wiring.h>
};

#include "Behavior.h"
#define NULL 0

/*
* TODO: Need to add a "scheduler" that will keep separate
* run, sleep, and disabled queue's, and execute only from
* run queue using a round robin algorithm.
*/

Behavior::~Behavior()
{
}
    
Behavior::Behavior(const char* i_name)
:   id( ++next_id ),
    name(i_name),
    enabled(true),
    wake_up_time(0)
{
    if ( NULL == all_first ) {
        all_first = this;
        all_last  = this;
        run_first = this;
        run_last  = this;
        prev      = NULL;
        next      = NULL;
    } else {
        all_last->next = this;
        this->all_prev = all_last;
        this->all_next = NULL;
        all_last       = this;

        run_last->next = this;
        this->prev     = run_last;
        this->next     = NULL;
        run_last       = this;
    }
}

void Behavior::RunAllReady()
{
    for ( Behavior* next = run_first; NULL != next; next = next->next ) {
        next->RunIfReady();
    }
}

void Behavior::RunIfReady()
{
    if ( ReadyToRun() ) {
        //Serial.print("Running: ");
        //Serial.println( const_cast<char*>(GetName()) );
        Run();
        //Serial.println();
    }
}

void Behavior::Run()
{
}

bool Behavior::IsEnabled() const
{
    return enabled;
}
    
bool Behavior::IsDisabled() const
{
    return !IsEnabled();
}
    
void Behavior::SetEnabled( bool value )
{
    enabled = value;
}

void Behavior::SetDisabled( bool value )
{
    SetEnabled(!value);
}

unsigned long Behavior::Delay() const
{
    unsigned long now = millis();
    if ( wake_up_time < now ) {
        return 0;
    } else {
        return wake_up_time - now;
    }
}

void Behavior::Delay( unsigned long value )
{
    wake_up_time = millis() + value;
}
    
void Behavior::DelayMicroseconds( unsigned long value )
{
    delayMicroseconds(value);
}
    
bool Behavior::ReadyToRun() const
{
    return IsEnabled() && wake_up_time <= millis();
}
  
unsigned long Behavior::GetId() const
{
    return id;
}
    
const char* Behavior::GetName() const
{
    return name;
}

unsigned   Behavior::next_id;
Behavior*  Behavior::all_first;
Behavior*  Behavior::all_last;
Behavior*  Behavior::run_first;
Behavior*  Behavior::run_last;
Behavior*  Behavior::sleeping_first;
Behavior*  Behavior::sleeping_last;
Behavior*  Behavior::disabled_first;
Behavior*  Behavior::disabled_last;

/*
void loop() 
{ 
  Behavior::RunAllReady();
}
*/