/********************************************************************
**                Image Component Library (ICL)                    **
**                                                                 **
** Copyright (C) 2006-2013 CITEC, University of Bielefeld          **
**                         Neuroinformatics Group                  **
** Website: www.iclcv.org and                                      **
**          http://opensource.cit-ec.de/projects/icl               **
**                                                                 **
** File   : ICLMarkers/src/ICLMarkers/MarkerCodeICL1.cpp           **
** Module : ICLMarkers                                             **
** Authors: Christof Elbrechter                                    **
**                                                                 **
**                                                                 **
** GNU LESSER GENERAL PUBLIC LICENSE                               **
** This file may be used under the terms of the GNU Lesser General **
** Public License version 3.0 as published by the                  **
**                                                                 **
** Free Software Foundation and appearing in the file LICENSE.LGPL **
** included in the packaging of this file.  Please review the      **
** following information to ensure the license requirements will   **
** be met: http://www.gnu.org/licenses/lgpl-3.0.txt                **
**                                                                 **
** The development of this software was supported by the           **
** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
** Forschungsgemeinschaft (DFG) in the context of the German       **
** Excellence Initiative.                                          **
**                                                                 **
********************************************************************/

#include <ICLMarkers/MarkerCodeICL1.h>
#include <ICLUtils/Macros.h>

#include <algorithm>

namespace icl{
  namespace markers{
    
// compiler bug?: http://bytes.com/topic/c/answers/710704-const-static-initialization-visual-studio
#ifndef ICL_SYSTEM_WINDOWS
    const int MarkerCodeICL1::P;
    const int MarkerCodeICL1::P1;
#endif
  
    MarkerCodeICL1::MarkerCodeICL1():id(99999999){
      n[0] = n[1] = n[2] = n[3] = 0;
    }
  
    MarkerCodeICL1::MarkerCodeICL1(const int ns[4], bool rootColorIsBlack){
      for(int i=0;i<4;++i) n[i] = ns[i];
      id = n[0] + P1*n[1] + (P1*P1)*n[2] + (P1*P1*P1)*n[3];
      if(!rootColorIsBlack) id = -id;
    }
  
    MarkerCodeICL1::MarkerCodeICL1(int id):id(id){
      const int sign = id<0 ? -1: 1;
      id = abs(id);
      
      n[3] = iclMin(P,id/(P1*P1*P1));
      id -= n[3]*(P1*P1*P1);
      n[2] = iclMin(P,id/(P1*P1));
      id -= n[2]*(P1*P1);
      n[1] = iclMin(P,id/(P1));
      id -= n[1]*(P1);
      n[0] = id;
      id *= sign;
    }
  
    int MarkerCodeICL1::operator-(const MarkerCodeICL1 &p) const {
      int e = 0;
      for(int i=0;i<4;++i) e += ::abs(n[i]-p.n[i]);
      return e;
    }
  
  
    std::ostream &operator<<(std::ostream &str, const MarkerCodeICL1 &c){
      return str << "("<<c[0]<<","<<c[1]<<","<<c[2]<<","<<c[3]<<")["<<c.id<<"]";
    }
  
    static bool hamming_ok(const MarkerCodeICL1 &a, const std::vector<MarkerCodeICL1> &ps){
      for(unsigned int x=0;x<ps.size();++x){
        if( (a - ps[x]) < 2){
          return false;
        }
      }
      return true;
    }
    
    const std::vector<MarkerCodeICL1> &MarkerCodeICL1::generate(){
      static std::vector<MarkerCodeICL1> ps;
      if(ps.size()) return ps;
      
      TODO_LOG("WARNING!! removed hammin check -> must be added as soon as possible");
      for(int i=1;i<=P;++i){
        for(int j=1;j<=P;++j){
          for(int k=1;k<=P;++k){
            for(int l=1;l<=P;++l){
              if(i<=j && j<=k && k<=l && i<l){
                int ns[]={i,j,k,l};
                MarkerCodeICL1 t(ns);
                if(hamming_ok(t, ps)){
                  ps.push_back(t);
                }
              }
            }
          }
        }
      }
      std::reverse(ps.begin(),ps.end());
      return ps;
    }
    
  
  
  } // namespace markers
}