//  Planner.h
// 
//  Version	Date	 Author	 Description
//	--------------------------------------------------------------------------
//  0.01	24/06/01 BWW	 Initial implementation

// Define the basics
#define		true	 	1
#define		false	 	0

// Screen size detail
#define		SCREEN_WIDTH	320
#define		SCREEN_HEIGHT	240

// Speed setting for the dynamic events
#define		SPEED_LOW		3
#define		SPEED_MEDIUM	2
#define		SPEED_HIGH		1

// Complexity settings for the dynamic environment
#define		COMPLEXITY_LOW		3
#define		COMPLEXITY_MEDIUM	2
#define		COMPLEXITY_HIGH		1

#define		COMPLEXITY		3
#define		SPEED			2
#define		STARTLOCATION	2

// Graphic object offsets
#define		OBJ_FLAT		'a'
#define		OBJ_UP			'b'
#define		OBJ_DOWN		'c'
#define		OBJ_WALL		'd'
#define		OBJ_WATER		'e'
#define		OBJ_START		'f'
#define		OBJ_EXIT		'f'
#define		OBJ_DOOR		'g'
#define		OBJ_BRIDGE		'h'
#define		OBJ_AGENT		'i'
#define		OBJ_KEY			'j'
#define		OBJ_CROSS		'k'
#define		OBJ_TICK		'l'
#define		OBJ_ROUTE		'm'

// Environment Display 
#define		ENV_SPRITESIZE	16
#define		ENV_X			80
#define		ENV_Y			0

// Environment Size
#define		ENV_WIDTH		10
#define		ENV_HEIGHT		10

// Text Display
#define		TXT_SIZE_LARGE		4096
#define		TXT_SPACE_LARGE		16
#define		TXT_SIZE_MEDIUM		3072
#define		TXT_SPACE_MEDIUM	12
#define		TXT_SIZE_SMALL		2560
#define		TXT_SPACE_SMALL		10
#define		TXT_SIZE_VSMALL		2048
#define		TXT_SPACE_VSMALL	9
#define		TXT_SIZE_TINY		1792
#define		TXT_SPACE_TINY		7

// Z depth display values
#define		ZPRIORITY_HIGH	0
#define		ZPRIORITY_MED	1
#define		ZPRIORITY_LOW	2

// Numbers of objects in the environment and values for statuses
//#define 	DOORNUM			2

#define		DOOROPEN		1
#define 	DOORCLOSED		0
#define		DOORLOCKED		1
#define		DOORUNLOCKED	0
	
//#define		BRIDGENUM		4

#define		BRIDGERAISED	1
#define		BRIDGELOWERED	0

// Sprite data memory address
#define		MESSAGESPRITEADDR  0x80100000

// Set ordering table length
#define 	OT_LENGTH		1

// Primitive related stuff
//#define 	PACKETMAX		2048
#define 	PACKETMAX		1024
#define 	PACKETMAX2	(PACKETMAX*24)

// Search tree
#define		SIZESEARCHARRAY	2000
#define		SIZESEARCHDEPTH	32


// Define the Constants that will be used to link Action Effects to Goal Preconditions
#define		PRECON_AT				1
#define		PRECON_DOORUNLOCKED		2
#define		PRECON_DOOROPEN			3
#define		PRECON_GETKEY			4
#define		PRECON_PLAN				5
#define		PRECON_WAIT				6

#define		EFFECT_MOVETO			1
#define		EFFECT_UNLOCK			2
#define		EFFECT_OPEN				3
#define		EFFECT_PICKUP			4
#define		EFFECT_PLAN				5
#define		EFFECT_WAIT				6

#define		PARAM_OBJECTAGENT		1
#define		PARAM_OBJECTDOOR		2
#define		PARAM_OBJECTKEY			3
#define		PARAM_XPOS				4
#define		PARAM_YPOS				5
#define		PARAM_LOCKSTATUS		6
#define		PARAM_OPENSTATUS		7
#define		PARAM_KEYSTATUS			8
#define		PARAM_DURATION			9

#define		NULL					0

#define		MAXPRECON				10
#define		MAXEFFECT				10
#define		MAXUNMETPRECON			50
#define		MAXACTIONEFFECT			50
#define		MAXCAUSALLINKS			50
#define		MAXORDERINGS			50

// Duration that the agent will 'wait' if a valid plan cannot be
// constructed, before trying again & the 'thinking' time to put together
// a plan
#define		DURATION_WAIT			250
#define		DURATION_PLANSTEP		20

#define		DURATION_UNLOCK			175
#define		DURATION_OPEN			125
#define		DURATION_PICKUP			150

// Plan constants
#define		PLAN					1
#define		NOPLAN					2
#define		FAILEDPLAN				3

// Global Typedefs
typedef struct {
	int x,y,gotkey;
	} Agent_Struct;

typedef struct {
	int x,y;
	} Key_Struct;
	
typedef struct {
	int x,y;
	} Start_Struct;

typedef struct {
	int x,y;
	} Exit_Struct;

typedef struct {
	int x,y, doorstatus,lockstatus;
	} Door_Struct;

typedef struct {
	int x,y,status,counter,duration;
	} Bridge_Struct;
	
typedef struct {
	int numsteps, x[SIZESEARCHDEPTH], y[SIZESEARCHDEPTH],cost[SIZESEARCHDEPTH];
	} Route_Struct;

typedef struct {
	int numnodes;
	int parentnode[SIZESEARCHARRAY];
	int goalnode[SIZESEARCHARRAY];
	int xpos[SIZESEARCHARRAY];
	int ypos[SIZESEARCHARRAY];
	int accessibledirections[SIZESEARCHARRAY][4]; // hold cost to direction - heuristic order = E,S,N,W
	int costtonode[SIZESEARCHARRAY];
	int cost[SIZESEARCHARRAY];
	int nodedepth[SIZESEARCHARRAY];
	int nodesinroute[SIZESEARCHARRAY][SIZESEARCHDEPTH]; // All of the other nodes in this particular route
	} SearchTree_Struct;
	
typedef struct {
	int numgoalnodes;
	int lowestcostnode;
	int lowestcostvalue;
	int goalnode[SIZESEARCHARRAY];
	int costtonode[SIZESEARCHARRAY];
	} SearchGoalNodes_Struct;

// Structure to hold a Precondition or an Effect	
typedef struct {
	int condition;
	int parameter1;
	int value1;
	int parameter2;
	int value2;
	int parameter3;
	int value3;
	} Condition_Struct;	
	
// Array of potential Preconditions
typedef struct {
	int					numpreconditions;
	Condition_Struct	condition[MAXPRECON];
	} Preconditions_Struct;

// Array of potential Effects
typedef struct {
	int					numeffects;
	Condition_Struct	effect[MAXEFFECT];
	} Effects_Struct;
	
// Unmet preconditions
typedef struct {
	int					numpreconditions;
	Condition_Struct	condition[MAXUNMETPRECON];
	int					met[MAXUNMETPRECON];
	} UnmetPreconditions_Struct;
	
// Preconditions available to be addressed by the next ActionEffect
typedef struct {
	int					numpreconditions;
	int					available[MAXUNMETPRECON];
	} AvailablePrecons_Struct;

// Action Effects
typedef struct {
	int					numeffects;
	Condition_Struct	effect[MAXACTIONEFFECT];
	int					duration[MAXACTIONEFFECT];
	int 				executed[MAXACTIONEFFECT];
	} ActionEffects_Struct;
		
// ActionEffects available to be chosen as the next action
typedef struct {
	int					numeffects;
	int					available[MAXUNMETPRECON];
	} AvailableActions_Struct;
	
// Causal Links
typedef struct {
	int numcausallinks;
	int actioneffect[MAXCAUSALLINKS];
	int unmetprecondition[MAXCAUSALLINKS];
	int executed[MAXCAUSALLINKS];
	} CausalLinks_Struct;	

// Orderings
typedef struct {
	int numorderings;
	int predecessor[MAXORDERINGS];
	int successor[MAXORDERINGS];
	int executed[MAXORDERINGS];
	} Orderings_Struct;
	
// Plan
typedef struct {
	int status;
	int actioneffectindex;
	int currentstep;
	int duration;
	int goalachieved;
	} Plan_Struct;
	
// Metrics to be captured from the execution of the scenario
typedef struct {
	int	c_size;
	int	c_accessible;
	int c_inaccessible;
	int c_dynamic_objects;
	int c_other_objects;
	int c_total_objects;
	int c_change;
	int c_complexity;
	int p_plannumber;
	int p_numpreconditions;
	int p_numactioneffects;
	int p_numcausallinks;
	int p_numorderings;
	int p_totplannumber;
	int p_totnumpreconditions;
	int p_totnumactioneffects;
	int p_totnumcausallinks;
	int p_totnumorderings;
	int e_preconditionsmet;
	int e_preconditionsfailed;
	int e_numsearches;
	int e_numsearchnodes;
	int e_numgoalnodes;
	} Metrics_Struct;